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Repository: google-deepmind/aloha_sim
Branch: main
Commit: d02904607cca
Files: 741
Total size: 73.9 MB
Directory structure:
gitextract_965o1qos/
├── CONTRIBUTING.md
├── LICENSE
├── README.md
├── aloha_sim/
│ ├── __init__.py
│ ├── assets/
│ │ ├── aloha/
│ │ │ ├── LICENSE
│ │ │ ├── README.md
│ │ │ ├── aloha_pbr.xml
│ │ │ ├── assets/
│ │ │ │ ├── aloha_mapped_mesh/
│ │ │ │ │ ├── d405_solid.obj
│ │ │ │ │ ├── overhead_mount.obj
│ │ │ │ │ ├── vx300s_1_base.obj
│ │ │ │ │ ├── vx300s_2_shoulder.obj
│ │ │ │ │ ├── vx300s_3_upper_arm.obj
│ │ │ │ │ ├── vx300s_4_upper_forearm.obj
│ │ │ │ │ ├── vx300s_5_lower_forearm.obj
│ │ │ │ │ ├── vx300s_6_wrist.obj
│ │ │ │ │ ├── vx300s_7_gripper_prop_bar.obj
│ │ │ │ │ ├── vx300s_8_custom_finger_left.obj
│ │ │ │ │ ├── vx300s_8_custom_finger_right.obj
│ │ │ │ │ └── wormseye_mount.obj
│ │ │ │ ├── cell_extrusions/
│ │ │ │ │ └── cell_extrusions.obj
│ │ │ │ ├── table_top/
│ │ │ │ │ └── table_mesh_mapped.obj
│ │ │ │ └── tablelegs.obj
│ │ │ ├── joint_position_actuators.xml
│ │ │ └── scene_pbr.xml
│ │ ├── edr/
│ │ │ ├── drawer/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── mk1157_counter_collision_01.stl
│ │ │ │ │ ├── mk1157_counter_collision_02.stl
│ │ │ │ │ ├── mk1157_counter_collision_03.stl
│ │ │ │ │ ├── mk1157_counter_collision_04.stl
│ │ │ │ │ ├── mk1157_counter_collision_05.stl
│ │ │ │ │ ├── mk1157_counter_collision_06.stl
│ │ │ │ │ ├── mk1157_counter_collision_07.stl
│ │ │ │ │ ├── mk1157_drawer_collision_01.stl
│ │ │ │ │ ├── mk1157_drawer_collision_02.stl
│ │ │ │ │ ├── mk1157_drawer_collision_03.stl
│ │ │ │ │ ├── mk1157_drawer_collision_04.stl
│ │ │ │ │ ├── mk1157_drawer_collision_05.stl
│ │ │ │ │ ├── mk1157_handle_collision_01.stl
│ │ │ │ │ └── mk1157_handle_collision_02.stl
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ └── pen/
│ │ │ ├── material/
│ │ │ │ └── pen.mtl
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ └── textured.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ ├── gso/
│ │ │ ├── BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── coacd_part_011.obj
│ │ │ │ │ ├── coacd_part_012.obj
│ │ │ │ │ ├── coacd_part_013.obj
│ │ │ │ │ ├── coacd_part_014.obj
│ │ │ │ │ ├── coacd_part_015.obj
│ │ │ │ │ ├── coacd_part_016.obj
│ │ │ │ │ ├── coacd_part_017.obj
│ │ │ │ │ ├── coacd_part_018.obj
│ │ │ │ │ ├── coacd_part_019.obj
│ │ │ │ │ ├── coacd_part_020.obj
│ │ │ │ │ ├── coacd_part_021.obj
│ │ │ │ │ ├── coacd_part_022.obj
│ │ │ │ │ ├── coacd_part_023.obj
│ │ │ │ │ ├── coacd_part_024.obj
│ │ │ │ │ ├── coacd_part_025.obj
│ │ │ │ │ ├── coacd_part_026.obj
│ │ │ │ │ ├── coacd_part_027.obj
│ │ │ │ │ ├── coacd_part_028.obj
│ │ │ │ │ ├── coacd_part_029.obj
│ │ │ │ │ ├── coacd_part_030.obj
│ │ │ │ │ ├── coacd_part_031.obj
│ │ │ │ │ ├── coacd_part_032.obj
│ │ │ │ │ ├── coacd_part_033.obj
│ │ │ │ │ ├── coacd_part_034.obj
│ │ │ │ │ ├── coacd_part_035.obj
│ │ │ │ │ ├── coacd_part_036.obj
│ │ │ │ │ ├── coacd_part_037.obj
│ │ │ │ │ ├── coacd_part_038.obj
│ │ │ │ │ ├── coacd_part_039.obj
│ │ │ │ │ ├── coacd_part_040.obj
│ │ │ │ │ ├── coacd_part_041.obj
│ │ │ │ │ ├── coacd_part_042.obj
│ │ │ │ │ ├── coacd_part_043.obj
│ │ │ │ │ ├── coacd_part_044.obj
│ │ │ │ │ ├── coacd_part_045.obj
│ │ │ │ │ ├── coacd_part_046.obj
│ │ │ │ │ ├── coacd_part_047.obj
│ │ │ │ │ ├── coacd_part_048.obj
│ │ │ │ │ ├── coacd_part_049.obj
│ │ │ │ │ ├── coacd_part_050.obj
│ │ │ │ │ ├── coacd_part_051.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Craftsman_Grip_Screwdriver_Phillips_Cushion/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Diamond_Visions_Scissors_Red/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── coacd_part_011.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Granimals_20_Wooden_ABC_Blocks_Wagon/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── coacd_part_011.obj
│ │ │ │ │ ├── coacd_part_012.obj
│ │ │ │ │ ├── coacd_part_013.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Kingston_DT4000MR_G2_Management_Ready_USB_64GB/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── LICENSE
│ │ │ ├── Magnifying_Glassassrt/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Razer_Kraken_Pro_headset_Full_size_Black_with_cable/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── coacd_part_011.obj
│ │ │ │ │ ├── coacd_part_012.obj
│ │ │ │ │ ├── coacd_part_013.obj
│ │ │ │ │ ├── coacd_part_014.obj
│ │ │ │ │ ├── coacd_part_015.obj
│ │ │ │ │ ├── coacd_part_016.obj
│ │ │ │ │ ├── coacd_part_017.obj
│ │ │ │ │ ├── coacd_part_018.obj
│ │ │ │ │ ├── coacd_part_019.obj
│ │ │ │ │ ├── coacd_part_020.obj
│ │ │ │ │ ├── coacd_part_021.obj
│ │ │ │ │ ├── coacd_part_022.obj
│ │ │ │ │ ├── coacd_part_023.obj
│ │ │ │ │ ├── coacd_part_024.obj
│ │ │ │ │ ├── coacd_part_025.obj
│ │ │ │ │ ├── coacd_part_026.obj
│ │ │ │ │ ├── coacd_part_027.obj
│ │ │ │ │ ├── coacd_part_028.obj
│ │ │ │ │ ├── coacd_part_029.obj
│ │ │ │ │ ├── coacd_part_030.obj
│ │ │ │ │ ├── coacd_part_031.obj
│ │ │ │ │ ├── coacd_part_032.obj
│ │ │ │ │ ├── coacd_part_033.obj
│ │ │ │ │ ├── coacd_part_034.obj
│ │ │ │ │ ├── coacd_part_035.obj
│ │ │ │ │ ├── coacd_part_036.obj
│ │ │ │ │ ├── coacd_part_037.obj
│ │ │ │ │ ├── coacd_part_038.obj
│ │ │ │ │ ├── coacd_part_039.obj
│ │ │ │ │ ├── coacd_part_040.obj
│ │ │ │ │ ├── coacd_part_041.obj
│ │ │ │ │ ├── coacd_part_042.obj
│ │ │ │ │ ├── coacd_part_043.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Rubbermaid_Large_Drainer/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── coacd_merged.obj
│ │ │ │ │ ├── coacd_part_000.obj
│ │ │ │ │ ├── coacd_part_001.obj
│ │ │ │ │ ├── coacd_part_002.obj
│ │ │ │ │ ├── coacd_part_003.obj
│ │ │ │ │ ├── coacd_part_004.obj
│ │ │ │ │ ├── coacd_part_005.obj
│ │ │ │ │ ├── coacd_part_006.obj
│ │ │ │ │ ├── coacd_part_007.obj
│ │ │ │ │ ├── coacd_part_008.obj
│ │ │ │ │ ├── coacd_part_009.obj
│ │ │ │ │ ├── coacd_part_010.obj
│ │ │ │ │ ├── coacd_part_011.obj
│ │ │ │ │ ├── coacd_part_012.obj
│ │ │ │ │ ├── coacd_part_013.obj
│ │ │ │ │ ├── coacd_part_014.obj
│ │ │ │ │ ├── coacd_part_015.obj
│ │ │ │ │ ├── coacd_part_016.obj
│ │ │ │ │ ├── coacd_part_017.obj
│ │ │ │ │ ├── coacd_part_018.obj
│ │ │ │ │ ├── coacd_part_019.obj
│ │ │ │ │ ├── coacd_part_020.obj
│ │ │ │ │ ├── coacd_part_021.obj
│ │ │ │ │ ├── coacd_part_022.obj
│ │ │ │ │ ├── coacd_part_023.obj
│ │ │ │ │ ├── coacd_part_024.obj
│ │ │ │ │ ├── coacd_part_025.obj
│ │ │ │ │ ├── coacd_part_026.obj
│ │ │ │ │ ├── coacd_part_027.obj
│ │ │ │ │ ├── coacd_part_028.obj
│ │ │ │ │ ├── coacd_part_029.obj
│ │ │ │ │ ├── coacd_part_030.obj
│ │ │ │ │ ├── coacd_part_031.obj
│ │ │ │ │ ├── coacd_part_032.obj
│ │ │ │ │ ├── coacd_part_033.obj
│ │ │ │ │ ├── coacd_part_034.obj
│ │ │ │ │ ├── coacd_part_035.obj
│ │ │ │ │ ├── coacd_part_036.obj
│ │ │ │ │ ├── coacd_part_037.obj
│ │ │ │ │ ├── coacd_part_038.obj
│ │ │ │ │ ├── coacd_part_039.obj
│ │ │ │ │ ├── coacd_part_040.obj
│ │ │ │ │ ├── coacd_part_041.obj
│ │ │ │ │ ├── coacd_part_042.obj
│ │ │ │ │ ├── coacd_part_043.obj
│ │ │ │ │ ├── coacd_part_044.obj
│ │ │ │ │ ├── coacd_part_045.obj
│ │ │ │ │ ├── coacd_part_046.obj
│ │ │ │ │ ├── coacd_part_047.obj
│ │ │ │ │ ├── coacd_part_048.obj
│ │ │ │ │ ├── coacd_part_049.obj
│ │ │ │ │ ├── coacd_part_050.obj
│ │ │ │ │ ├── coacd_part_051.obj
│ │ │ │ │ ├── coacd_part_052.obj
│ │ │ │ │ ├── coacd_part_053.obj
│ │ │ │ │ ├── coacd_part_054.obj
│ │ │ │ │ ├── coacd_part_055.obj
│ │ │ │ │ ├── coacd_part_056.obj
│ │ │ │ │ ├── coacd_part_057.obj
│ │ │ │ │ ├── coacd_part_058.obj
│ │ │ │ │ ├── coacd_part_059.obj
│ │ │ │ │ ├── coacd_part_060.obj
│ │ │ │ │ ├── coacd_part_061.obj
│ │ │ │ │ ├── coacd_part_062.obj
│ │ │ │ │ ├── coacd_part_063.obj
│ │ │ │ │ ├── coacd_part_064.obj
│ │ │ │ │ ├── coacd_part_065.obj
│ │ │ │ │ ├── coacd_part_066.obj
│ │ │ │ │ ├── coacd_part_067.obj
│ │ │ │ │ ├── coacd_part_068.obj
│ │ │ │ │ ├── coacd_part_069.obj
│ │ │ │ │ ├── coacd_part_070.obj
│ │ │ │ │ ├── coacd_part_071.obj
│ │ │ │ │ ├── coacd_part_072.obj
│ │ │ │ │ ├── coacd_part_073.obj
│ │ │ │ │ ├── coacd_part_074.obj
│ │ │ │ │ ├── coacd_part_075.obj
│ │ │ │ │ ├── coacd_part_076.obj
│ │ │ │ │ ├── coacd_part_077.obj
│ │ │ │ │ ├── coacd_part_078.obj
│ │ │ │ │ ├── coacd_part_079.obj
│ │ │ │ │ ├── coacd_part_080.obj
│ │ │ │ │ ├── coacd_part_081.obj
│ │ │ │ │ ├── coacd_part_082.obj
│ │ │ │ │ ├── coacd_part_083.obj
│ │ │ │ │ ├── coacd_part_084.obj
│ │ │ │ │ ├── coacd_part_085.obj
│ │ │ │ │ ├── coacd_part_086.obj
│ │ │ │ │ ├── coacd_part_087.obj
│ │ │ │ │ ├── coacd_part_088.obj
│ │ │ │ │ ├── coacd_part_089.obj
│ │ │ │ │ ├── coacd_part_090.obj
│ │ │ │ │ ├── coacd_part_091.obj
│ │ │ │ │ ├── coacd_part_092.obj
│ │ │ │ │ ├── coacd_part_093.obj
│ │ │ │ │ ├── coacd_part_094.obj
│ │ │ │ │ ├── coacd_part_095.obj
│ │ │ │ │ ├── coacd_part_096.obj
│ │ │ │ │ ├── coacd_part_097.obj
│ │ │ │ │ ├── coacd_part_098.obj
│ │ │ │ │ ├── coacd_part_099.obj
│ │ │ │ │ ├── coacd_part_100.obj
│ │ │ │ │ ├── coacd_part_101.obj
│ │ │ │ │ ├── coacd_part_102.obj
│ │ │ │ │ ├── coacd_part_103.obj
│ │ │ │ │ ├── coacd_part_104.obj
│ │ │ │ │ ├── coacd_part_105.obj
│ │ │ │ │ ├── coacd_part_106.obj
│ │ │ │ │ ├── coacd_part_107.obj
│ │ │ │ │ ├── coacd_part_108.obj
│ │ │ │ │ ├── coacd_part_109.obj
│ │ │ │ │ ├── coacd_part_110.obj
│ │ │ │ │ ├── coacd_part_111.obj
│ │ │ │ │ ├── coacd_part_112.obj
│ │ │ │ │ ├── coacd_part_113.obj
│ │ │ │ │ ├── coacd_part_114.obj
│ │ │ │ │ ├── coacd_part_115.obj
│ │ │ │ │ ├── coacd_part_116.obj
│ │ │ │ │ ├── coacd_part_117.obj
│ │ │ │ │ ├── coacd_part_118.obj
│ │ │ │ │ ├── coacd_part_119.obj
│ │ │ │ │ ├── coacd_part_120.obj
│ │ │ │ │ ├── coacd_part_121.obj
│ │ │ │ │ ├── coacd_part_122.obj
│ │ │ │ │ ├── coacd_part_123.obj
│ │ │ │ │ ├── coacd_part_124.obj
│ │ │ │ │ ├── coacd_part_125.obj
│ │ │ │ │ ├── coacd_part_126.obj
│ │ │ │ │ ├── coacd_part_127.obj
│ │ │ │ │ ├── coacd_part_128.obj
│ │ │ │ │ ├── coacd_part_129.obj
│ │ │ │ │ ├── coacd_part_130.obj
│ │ │ │ │ ├── coacd_part_131.obj
│ │ │ │ │ ├── coacd_part_132.obj
│ │ │ │ │ ├── coacd_part_133.obj
│ │ │ │ │ ├── coacd_part_134.obj
│ │ │ │ │ ├── coacd_part_135.obj
│ │ │ │ │ ├── coacd_part_136.obj
│ │ │ │ │ ├── coacd_part_137.obj
│ │ │ │ │ ├── coacd_part_138.obj
│ │ │ │ │ ├── coacd_part_139.obj
│ │ │ │ │ ├── coacd_part_140.obj
│ │ │ │ │ ├── coacd_part_141.obj
│ │ │ │ │ ├── coacd_part_142.obj
│ │ │ │ │ ├── coacd_part_143.obj
│ │ │ │ │ ├── model.mtl
│ │ │ │ │ └── model.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ └── Sterilite_Caddy_Blue_Sky_17_58_x_12_58_x_9_14/
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ ├── coacd_part_001.obj
│ │ │ │ ├── coacd_part_002.obj
│ │ │ │ ├── coacd_part_003.obj
│ │ │ │ ├── coacd_part_004.obj
│ │ │ │ ├── coacd_part_005.obj
│ │ │ │ ├── coacd_part_006.obj
│ │ │ │ ├── coacd_part_007.obj
│ │ │ │ ├── coacd_part_008.obj
│ │ │ │ ├── coacd_part_009.obj
│ │ │ │ ├── coacd_part_010.obj
│ │ │ │ ├── coacd_part_011.obj
│ │ │ │ ├── coacd_part_012.obj
│ │ │ │ ├── coacd_part_013.obj
│ │ │ │ ├── coacd_part_014.obj
│ │ │ │ ├── coacd_part_015.obj
│ │ │ │ ├── coacd_part_016.obj
│ │ │ │ ├── coacd_part_017.obj
│ │ │ │ ├── coacd_part_018.obj
│ │ │ │ ├── coacd_part_019.obj
│ │ │ │ ├── coacd_part_020.obj
│ │ │ │ ├── coacd_part_021.obj
│ │ │ │ ├── coacd_part_022.obj
│ │ │ │ ├── coacd_part_023.obj
│ │ │ │ ├── coacd_part_024.obj
│ │ │ │ ├── coacd_part_025.obj
│ │ │ │ ├── coacd_part_026.obj
│ │ │ │ ├── coacd_part_027.obj
│ │ │ │ ├── coacd_part_028.obj
│ │ │ │ ├── coacd_part_029.obj
│ │ │ │ ├── coacd_part_030.obj
│ │ │ │ ├── coacd_part_031.obj
│ │ │ │ ├── coacd_part_032.obj
│ │ │ │ ├── coacd_part_033.obj
│ │ │ │ ├── coacd_part_034.obj
│ │ │ │ ├── coacd_part_035.obj
│ │ │ │ ├── coacd_part_036.obj
│ │ │ │ ├── coacd_part_037.obj
│ │ │ │ ├── coacd_part_038.obj
│ │ │ │ ├── coacd_part_039.obj
│ │ │ │ ├── coacd_part_040.obj
│ │ │ │ ├── coacd_part_041.obj
│ │ │ │ ├── coacd_part_042.obj
│ │ │ │ ├── coacd_part_043.obj
│ │ │ │ ├── coacd_part_044.obj
│ │ │ │ ├── coacd_part_045.obj
│ │ │ │ ├── coacd_part_046.obj
│ │ │ │ ├── coacd_part_047.obj
│ │ │ │ ├── coacd_part_048.obj
│ │ │ │ ├── coacd_part_049.obj
│ │ │ │ ├── coacd_part_050.obj
│ │ │ │ ├── coacd_part_051.obj
│ │ │ │ ├── coacd_part_052.obj
│ │ │ │ ├── coacd_part_053.obj
│ │ │ │ ├── coacd_part_054.obj
│ │ │ │ ├── coacd_part_055.obj
│ │ │ │ ├── coacd_part_056.obj
│ │ │ │ ├── coacd_part_057.obj
│ │ │ │ ├── coacd_part_058.obj
│ │ │ │ ├── coacd_part_059.obj
│ │ │ │ ├── coacd_part_060.obj
│ │ │ │ ├── coacd_part_061.obj
│ │ │ │ ├── coacd_part_062.obj
│ │ │ │ ├── coacd_part_063.obj
│ │ │ │ ├── coacd_part_064.obj
│ │ │ │ ├── coacd_part_065.obj
│ │ │ │ ├── coacd_part_066.obj
│ │ │ │ ├── coacd_part_067.obj
│ │ │ │ ├── coacd_part_068.obj
│ │ │ │ ├── coacd_part_069.obj
│ │ │ │ ├── coacd_part_070.obj
│ │ │ │ ├── coacd_part_071.obj
│ │ │ │ ├── coacd_part_072.obj
│ │ │ │ ├── coacd_part_073.obj
│ │ │ │ ├── coacd_part_074.obj
│ │ │ │ ├── coacd_part_075.obj
│ │ │ │ ├── coacd_part_076.obj
│ │ │ │ ├── coacd_part_077.obj
│ │ │ │ ├── coacd_part_078.obj
│ │ │ │ ├── coacd_part_079.obj
│ │ │ │ ├── coacd_part_080.obj
│ │ │ │ ├── coacd_part_081.obj
│ │ │ │ ├── model.mtl
│ │ │ │ └── model.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ ├── mujoco/
│ │ │ ├── Laptop/
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── laptop_body.obj
│ │ │ │ │ ├── laptop_body_collision.obj
│ │ │ │ │ ├── laptop_body_collision_001.obj
│ │ │ │ │ ├── laptop_body_collision_002.obj
│ │ │ │ │ ├── laptop_body_collision_003.obj
│ │ │ │ │ ├── laptop_body_collision_004.obj
│ │ │ │ │ ├── laptop_body_collision_005.obj
│ │ │ │ │ ├── laptop_body_collision_006.obj
│ │ │ │ │ ├── laptop_screen.obj
│ │ │ │ │ ├── laptop_screen_collision.obj
│ │ │ │ │ ├── laptop_screen_collision_007.obj
│ │ │ │ │ ├── laptop_screen_collision_008.obj
│ │ │ │ │ ├── laptop_screen_collision_009.obj
│ │ │ │ │ ├── laptop_screen_collision_010.obj
│ │ │ │ │ ├── laptop_screen_collision_011.obj
│ │ │ │ │ ├── laptop_screen_collision_012.obj
│ │ │ │ │ └── laptop_screen_collision_013.obj
│ │ │ │ ├── model.xml
│ │ │ │ └── scene.xml
│ │ │ ├── Marker/
│ │ │ │ ├── cap.xml
│ │ │ │ ├── marker.xml
│ │ │ │ ├── meshes/
│ │ │ │ │ ├── cap.obj
│ │ │ │ │ ├── cap_collision_001.obj
│ │ │ │ │ ├── cap_collision_002.obj
│ │ │ │ │ ├── cap_collision_003.obj
│ │ │ │ │ ├── cap_collision_004.obj
│ │ │ │ │ ├── cap_collision_005.obj
│ │ │ │ │ ├── cap_collision_006.obj
│ │ │ │ │ ├── cap_collision_007.obj
│ │ │ │ │ ├── cap_collision_008.obj
│ │ │ │ │ ├── cap_collision_009.obj
│ │ │ │ │ ├── cap_collision_high_friction_001.obj
│ │ │ │ │ ├── cap_collision_high_friction_002.obj
│ │ │ │ │ ├── cap_collision_high_friction_003.obj
│ │ │ │ │ ├── cap_collision_high_friction_004.obj
│ │ │ │ │ ├── cap_collision_high_friction_005.obj
│ │ │ │ │ ├── cap_collision_high_friction_006.obj
│ │ │ │ │ ├── cap_collision_high_friction_007.obj
│ │ │ │ │ ├── cap_collision_high_friction_008.obj
│ │ │ │ │ ├── cap_collision_high_friction_009.obj
│ │ │ │ │ ├── cap_collision_high_friction_010.obj
│ │ │ │ │ ├── cap_collision_high_friction_011.obj
│ │ │ │ │ ├── cap_collision_high_friction_012.obj
│ │ │ │ │ ├── cap_collision_high_friction_013.obj
│ │ │ │ │ ├── cap_collision_high_friction_014.obj
│ │ │ │ │ ├── cap_collision_high_friction_015.obj
│ │ │ │ │ ├── cap_collision_high_friction_016.obj
│ │ │ │ │ ├── marker.obj
│ │ │ │ │ ├── marker_collision_001.obj
│ │ │ │ │ ├── marker_collision_002.obj
│ │ │ │ │ ├── marker_collision_003.obj
│ │ │ │ │ ├── marker_collision_004.obj
│ │ │ │ │ ├── marker_collision_005.obj
│ │ │ │ │ ├── marker_collision_006.obj
│ │ │ │ │ ├── marker_collision_007.obj
│ │ │ │ │ ├── marker_collision_008.obj
│ │ │ │ │ ├── marker_collision_009.obj
│ │ │ │ │ ├── marker_collision_010.obj
│ │ │ │ │ ├── marker_collision_011.obj
│ │ │ │ │ ├── marker_collision_012.obj
│ │ │ │ │ ├── marker_collision_013.obj
│ │ │ │ │ ├── marker_collision_014.obj
│ │ │ │ │ ├── marker_collision_015.obj
│ │ │ │ │ ├── marker_collision_016.obj
│ │ │ │ │ ├── marker_collision_high_friction_001.obj
│ │ │ │ │ ├── marker_collision_high_friction_002.obj
│ │ │ │ │ ├── marker_collision_high_friction_003.obj
│ │ │ │ │ ├── marker_collision_high_friction_004.obj
│ │ │ │ │ ├── marker_collision_high_friction_005.obj
│ │ │ │ │ ├── marker_collision_high_friction_006.obj
│ │ │ │ │ ├── marker_collision_high_friction_007.obj
│ │ │ │ │ └── marker_collision_high_friction_008.obj
│ │ │ │ └── scene.xml
│ │ │ └── Towel/
│ │ │ ├── model.xml
│ │ │ ├── original.xml
│ │ │ └── scene.xml
│ │ └── ycb/
│ │ ├── 011_banana/
│ │ │ └── google_64k/
│ │ │ ├── materials/
│ │ │ │ └── textured.mtl
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ ├── coacd_part_001.obj
│ │ │ │ ├── coacd_part_002.obj
│ │ │ │ ├── coacd_part_003.obj
│ │ │ │ └── textured.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ ├── 024_bowl/
│ │ │ └── google_64k/
│ │ │ ├── materials/
│ │ │ │ └── textured.mtl
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ ├── coacd_part_001.obj
│ │ │ │ ├── coacd_part_002.obj
│ │ │ │ ├── coacd_part_003.obj
│ │ │ │ ├── coacd_part_004.obj
│ │ │ │ ├── coacd_part_005.obj
│ │ │ │ ├── coacd_part_006.obj
│ │ │ │ ├── coacd_part_007.obj
│ │ │ │ ├── coacd_part_008.obj
│ │ │ │ ├── coacd_part_009.obj
│ │ │ │ ├── coacd_part_010.obj
│ │ │ │ ├── coacd_part_011.obj
│ │ │ │ ├── coacd_part_012.obj
│ │ │ │ ├── coacd_part_013.obj
│ │ │ │ ├── coacd_part_014.obj
│ │ │ │ ├── coacd_part_015.obj
│ │ │ │ ├── coacd_part_016.obj
│ │ │ │ ├── coacd_part_017.obj
│ │ │ │ ├── coacd_part_018.obj
│ │ │ │ ├── coacd_part_019.obj
│ │ │ │ ├── coacd_part_020.obj
│ │ │ │ ├── coacd_part_021.obj
│ │ │ │ ├── coacd_part_022.obj
│ │ │ │ ├── coacd_part_023.obj
│ │ │ │ ├── coacd_part_024.obj
│ │ │ │ ├── coacd_part_025.obj
│ │ │ │ ├── coacd_part_026.obj
│ │ │ │ ├── coacd_part_027.obj
│ │ │ │ ├── coacd_part_028.obj
│ │ │ │ ├── coacd_part_029.obj
│ │ │ │ ├── coacd_part_030.obj
│ │ │ │ ├── coacd_part_031.obj
│ │ │ │ ├── coacd_part_032.obj
│ │ │ │ ├── coacd_part_033.obj
│ │ │ │ ├── coacd_part_034.obj
│ │ │ │ ├── coacd_part_035.obj
│ │ │ │ ├── coacd_part_036.obj
│ │ │ │ ├── coacd_part_037.obj
│ │ │ │ ├── coacd_part_038.obj
│ │ │ │ ├── coacd_part_039.obj
│ │ │ │ ├── coacd_part_040.obj
│ │ │ │ ├── coacd_part_041.obj
│ │ │ │ ├── coacd_part_042.obj
│ │ │ │ ├── coacd_part_043.obj
│ │ │ │ ├── coacd_part_044.obj
│ │ │ │ ├── coacd_part_045.obj
│ │ │ │ ├── coacd_part_046.obj
│ │ │ │ ├── coacd_part_047.obj
│ │ │ │ ├── coacd_part_048.obj
│ │ │ │ ├── coacd_part_049.obj
│ │ │ │ ├── coacd_part_050.obj
│ │ │ │ ├── coacd_part_051.obj
│ │ │ │ ├── coacd_part_052.obj
│ │ │ │ └── textured.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ ├── 025_mug/
│ │ │ └── google_64k/
│ │ │ ├── materials/
│ │ │ │ └── textured.mtl
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ ├── coacd_part_001.obj
│ │ │ │ ├── coacd_part_002.obj
│ │ │ │ ├── coacd_part_003.obj
│ │ │ │ ├── coacd_part_004.obj
│ │ │ │ ├── coacd_part_005.obj
│ │ │ │ ├── coacd_part_006.obj
│ │ │ │ ├── coacd_part_007.obj
│ │ │ │ ├── coacd_part_008.obj
│ │ │ │ ├── coacd_part_009.obj
│ │ │ │ ├── coacd_part_010.obj
│ │ │ │ ├── coacd_part_011.obj
│ │ │ │ ├── coacd_part_012.obj
│ │ │ │ ├── coacd_part_013.obj
│ │ │ │ ├── coacd_part_014.obj
│ │ │ │ ├── coacd_part_015.obj
│ │ │ │ ├── coacd_part_016.obj
│ │ │ │ ├── coacd_part_017.obj
│ │ │ │ ├── coacd_part_018.obj
│ │ │ │ ├── coacd_part_019.obj
│ │ │ │ ├── coacd_part_020.obj
│ │ │ │ ├── coacd_part_021.obj
│ │ │ │ ├── coacd_part_022.obj
│ │ │ │ ├── coacd_part_023.obj
│ │ │ │ ├── coacd_part_024.obj
│ │ │ │ ├── coacd_part_025.obj
│ │ │ │ ├── coacd_part_026.obj
│ │ │ │ ├── coacd_part_027.obj
│ │ │ │ ├── coacd_part_028.obj
│ │ │ │ ├── coacd_part_029.obj
│ │ │ │ ├── coacd_part_030.obj
│ │ │ │ ├── coacd_part_031.obj
│ │ │ │ ├── coacd_part_032.obj
│ │ │ │ ├── coacd_part_033.obj
│ │ │ │ ├── coacd_part_034.obj
│ │ │ │ ├── coacd_part_035.obj
│ │ │ │ ├── coacd_part_036.obj
│ │ │ │ ├── coacd_part_037.obj
│ │ │ │ ├── coacd_part_038.obj
│ │ │ │ ├── coacd_part_039.obj
│ │ │ │ ├── coacd_part_040.obj
│ │ │ │ ├── coacd_part_041.obj
│ │ │ │ ├── coacd_part_042.obj
│ │ │ │ ├── coacd_part_043.obj
│ │ │ │ ├── coacd_part_044.obj
│ │ │ │ ├── coacd_part_045.obj
│ │ │ │ ├── coacd_part_046.obj
│ │ │ │ ├── coacd_part_047.obj
│ │ │ │ ├── coacd_part_048.obj
│ │ │ │ ├── coacd_part_049.obj
│ │ │ │ ├── coacd_part_050.obj
│ │ │ │ ├── coacd_part_051.obj
│ │ │ │ ├── coacd_part_052.obj
│ │ │ │ ├── coacd_part_053.obj
│ │ │ │ ├── coacd_part_054.obj
│ │ │ │ ├── coacd_part_055.obj
│ │ │ │ ├── coacd_part_056.obj
│ │ │ │ ├── coacd_part_057.obj
│ │ │ │ ├── coacd_part_058.obj
│ │ │ │ ├── coacd_part_059.obj
│ │ │ │ ├── coacd_part_060.obj
│ │ │ │ ├── coacd_part_061.obj
│ │ │ │ ├── coacd_part_062.obj
│ │ │ │ ├── coacd_part_063.obj
│ │ │ │ ├── coacd_part_064.obj
│ │ │ │ ├── coacd_part_065.obj
│ │ │ │ ├── coacd_part_066.obj
│ │ │ │ ├── coacd_part_067.obj
│ │ │ │ ├── coacd_part_068.obj
│ │ │ │ ├── coacd_part_069.obj
│ │ │ │ ├── coacd_part_070.obj
│ │ │ │ ├── coacd_part_071.obj
│ │ │ │ ├── coacd_part_072.obj
│ │ │ │ ├── coacd_part_073.obj
│ │ │ │ ├── textured.obj
│ │ │ │ └── white_mug.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ ├── 029_plate/
│ │ │ └── google_64k/
│ │ │ ├── materials/
│ │ │ │ └── textured.mtl
│ │ │ ├── meshes/
│ │ │ │ ├── coacd_merged.obj
│ │ │ │ ├── coacd_part_000.obj
│ │ │ │ ├── coacd_part_001.obj
│ │ │ │ ├── coacd_part_002.obj
│ │ │ │ ├── coacd_part_003.obj
│ │ │ │ ├── coacd_part_004.obj
│ │ │ │ ├── coacd_part_005.obj
│ │ │ │ ├── coacd_part_006.obj
│ │ │ │ ├── coacd_part_007.obj
│ │ │ │ ├── coacd_part_008.obj
│ │ │ │ ├── coacd_part_009.obj
│ │ │ │ ├── coacd_part_010.obj
│ │ │ │ ├── coacd_part_011.obj
│ │ │ │ ├── coacd_part_012.obj
│ │ │ │ ├── coacd_part_013.obj
│ │ │ │ ├── coacd_part_014.obj
│ │ │ │ ├── coacd_part_015.obj
│ │ │ │ ├── coacd_part_016.obj
│ │ │ │ ├── coacd_part_017.obj
│ │ │ │ └── textured.obj
│ │ │ ├── model.xml
│ │ │ └── scene.xml
│ │ └── LICENSE
│ ├── run_eval.py
│ ├── task_suite.py
│ ├── tasks/
│ │ ├── __init__.py
│ │ ├── base/
│ │ │ ├── __init__.py
│ │ │ ├── aloha2_task.py
│ │ │ ├── desktop.py
│ │ │ ├── dining.py
│ │ │ ├── dish_on_rack.py
│ │ │ ├── drawer.py
│ │ │ ├── laptop.py
│ │ │ ├── marker.py
│ │ │ ├── tools.py
│ │ │ └── towel.py
│ │ ├── blocks_spelling.py
│ │ ├── bowl_on_rack.py
│ │ ├── desktop_wrap_headphone.py
│ │ ├── dining_place_in_container.py
│ │ ├── drawer_open.py
│ │ ├── hand_over.py
│ │ ├── laptop_close.py
│ │ ├── marker_remove_lid.py
│ │ ├── test/
│ │ │ ├── __init__.py
│ │ │ ├── aloha2_task_test.py
│ │ │ ├── blocks_spelling_test.py
│ │ │ ├── desktop_test.py
│ │ │ ├── dining_test.py
│ │ │ ├── dish_on_rack_test.py
│ │ │ ├── drawer_test.py
│ │ │ ├── hand_over_test.py
│ │ │ ├── laptop_test.py
│ │ │ ├── marker_test.py
│ │ │ ├── tools_test.py
│ │ │ └── towel_test.py
│ │ ├── tools_in_caddy.py
│ │ └── towel_fold_in_half.py
│ ├── utils/
│ │ ├── __init__.py
│ │ ├── oobb_utils.py
│ │ └── success_detector_utils.py
│ └── viewer.py
└── pyproject.toml
================================================
FILE CONTENTS
================================================
================================================
FILE: CONTRIBUTING.md
================================================
# How to Contribute
## Contributor License Agreement
Contributions to this project must be accompanied by a Contributor License
Agreement. You (or your employer) retain the copyright to your contribution,
this simply gives us permission to use and redistribute your contributions as
part of the project. Head over to <https://cla.developers.google.com/> to see
your current agreements on file or to sign a new one.
You generally only need to submit a CLA once, so if you've already submitted one
(even if it was for a different project), you probably don't need to do it
again.
## Code reviews
All submissions, including submissions by project members, require review. We
use GitHub pull requests for this purpose. Consult
[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
information on using pull requests.
## Community Guidelines
This project follows [Google's Open Source Community
Guidelines](https://opensource.google/conduct/).
================================================
FILE: LICENSE
================================================
================================================================================
License for contents in the directory 'aloha_sim', unless specified below.
================================================================================
Apache License
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http://www.apache.org/licenses/
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================================================
FILE: README.md
================================================
# Aloha Sim
<a href="#"><img alt="A banner with the title: Aloha Sim" src="media/banner.png" width="100%"></a>
Aloha Sim is a python library that defines the sim environment for the Aloha
robot. It includes a collection of tasks for robot learning and evaluation.
## Installation
Install with pip:
```bash
# create a virtual environment and pip install
pip install -e .
```
**OR** run directly with uv:
```bash
pip install uv
uv run <script>.py
```
Tell mujoco which backend to use, otherwise the simulation will be very slow
```bash
export MUJOCO_GL='egl'
```
## Viewer
Interact with the scene without a policy:
```bash
python aloha_sim/viewer.py --policy=no_policy --task_name=HandOverBanana
```
## Tests
```bash
# individual tests
python aloha_sim/tasks/test/aloha2_task_test.py
python aloha_sim/tasks/test/hand_over_test.py
...
# all tests
python -m unittest discover aloha_sim/tasks/test '*_test.py'
```
## Inference
⚠️ **For Gemini Robotics Trusted Testers Only**
Inference with Gemini Robotics models is intended for
Trusted Testers. If you are not a Trusted Tester, sign up
[here](https://deepmind.google/models/gemini-robotics/).
Follow our [SDK documentation](https://github.com/google-deepmind/gemini-robotics-sdk)
to serve the model. The **same model** used for real-world evaluations can be
directly applied in simulation.
Checkout the walkthrough video:
<p align="middle">
<a href="https://www.youtube.com/watch?v=nVMY3-kWhOc
" target="_blank"><img src="media/walkthrough.png"
alt="Video walkthrough of sim eval" width="718" height="403" border="10"/></a>
</p>
### Install SDK dependency
```bash
pip install aloha_sim[inference]
```
### Interactive Rollouts
Start the viewer with a chosen task:
```bash
# defaut task: "put the banana in the bowl"
python aloha_sim/viewer.py
# "remove the cap from the marker"
python aloha_sim/viewer.py --task_name=MarkerRemoveLid
# "place the can opener in the left compartment of the caddy"
python aloha_sim/viewer.py --task_name=ToolsPlaceCanOpenerInLeftCompartment
...
```
Checkout [task_suite.py](aloha_sim/task_suite.py#L42) for the list of all tasks
available.
You can use the viewer to pause/resume the environment,
interact with the objects, and enter new instructions for the robot
```
Instructions for using the viewer:
- shift + 'i' = enter new instruction
- space bar = pause/resume.
- backspace = reset environment.
- mouse right moves the camera
- mouse left rotates the camera
- double-click to select an object
When the environment is not running:
- ctrl + mouse left rotates a selected object
- ctrl + mouse right moves a selected object
When the environment is running:
- ctrl + mouse left applies torque to an object
- ctrl + mouse right applies force to an object
```
### Eval
```bash
python aloha_sim/run_eval.py
```
Runs N evaluation episodes for all tasks and save videos
in `/tmp/`.
## Benchmark
Success Rates (with 95% Confidence Interval) from 100 episodes per task x 3
runs.
### Basic Tasks
| Task | Gemini Robotics On Device<br>Success Rate (95% CI) |
|:------|:-----------------------:|
| BowlOnRack | 99.3 (0.93) |
| DrawerOpen | 87.0 (3.83) |
| HandOverBanana | 99.0 (1.13) |
| HandOverPen | 93.7 (2.77) |
| LaptopClose | 78.0 (4.71) |
### Instruction-Following Tasks
| Task | Gemini Robotics On Device<br>Success Rate (95% CI) |
|:------|:-----------------------:|
| DiningPlaceBananaInBowl | 93.3 (2.84) |
| DiningPlaceMugOnPlate | 32.0 (5.31) |
| DiningPlacePenInContainer | 19.7 (4.52) |
| ToolsPlaceCanOpenerInLeftCompartment | 82.0 (4.37) |
| ToolsPlaceCanOpenerInRightCompartment | 73.3 (5.03) |
| ToolsPlaceMagnifierInRightCompartment | 91.3 (3.20) |
| ToolsPlaceMagnifierInLeftCompartment | 81.7 (4.40) |
| ToolsPlaceScissorsInLeftCompartment | 73.3 (5.03) |
| ToolsPlaceScissorsInRightCompartment | 79.0 (4.64) |
| ToolsPlaceScrewdriverInLeftCompartment | 81.0 (4.46) |
| ToolsPlaceScrewdriverInRightCompartment | 78.3 (4.69) |
| BlocksSpelling | 4.7 (2.40) |
### Dexterous Tasks
| Task | Gemini Robotics On Device<br>Success Rate (95% CI) |
|:------|:-----------------------:|
| MarkerRemoveLid | 73.7 (5.01) |
| DesktopWrapHeadphone | 8.7 (3.21) |
| TowelFoldInHalf | 6.7 (3.18) |
To reproduce the results, use `random_seed = 42 + episode_index`.
## Tips
- If the environment stepping is very slow, check that you are using the right
backend, e.g. `MUJOCO_GL='egl'`
- Tasks with deformable objects like `DesktopWrapHeadphone` and
`TowelFoldInHalf` are slow to simulate and interact directly with `viewer.py`.
## Note
This is not an officially supported Google product.
================================================
FILE: aloha_sim/__init__.py
================================================
# Copyright 2025 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
================================================
FILE: aloha_sim/assets/aloha/LICENSE
================================================
Copyright (c) 2023, Trossen Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
================================================
FILE: aloha_sim/assets/aloha/README.md
================================================
# ALOHA Description
Requires MuJoCo 3.1.1 or later.
## Overview
This package contains a simplified robot description (MJCF) of the bimanual
[ALOHA 2](https://aloha-2.github.io/) robot. It is ported from
https://github.com/google-deepmind/mujoco_menagerie/commits/main/ SHA
237f8493d72cd3dc4fb93dbad3745cb55f53f2ef.
The reason for the copy is that some teleop data has been collected on this
version of the robot model. The continuous improvement to the robot model might
break the data. The files in this directory freezes the robot model version.
## License
This model is released under a [BSD-3-Clause License](LICENSE).
## Publications
If you use this model in your work, please use the following citation:
```bibtex
@misc{aloha2_2024,
title = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation},
url = {https://aloha-2.github.io/},
author = {ALOHA 2 Team},
year = {2024},
}
```
================================================
FILE: aloha_sim/assets/aloha/aloha_pbr.xml
================================================
<!--
Copyright 2025 Google LLC
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="aloha">
<compiler angle="radian" assetdir="assets" autolimits="true"/>
<option cone="elliptic" impratio="10"/>
<asset>
<texture name="arm_rgb" file="aloha_mapped_mesh/1k_textures/Arm_material_BaseColor.png" type="2d"/>
<texture name="arm_orm" file="aloha_mapped_mesh/1k_textures/Arm_material_ORM.png" type="2d"/>
<texture name="arm_normal" file = "aloha_mapped_mesh/1k_textures/Arm_material_Normal.png" type="2d"/>
<material name="arm_material">
<layer role="rgb" texture="arm_rgb"/>
<layer role="orm" texture="arm_orm"/>
<layer role="normal" texture="arm_normal"/>
</material>
<mesh file="aloha_mapped_mesh/vx300s_1_base.obj" />
<mesh file="aloha_mapped_mesh/vx300s_2_shoulder.obj" />
<mesh file="aloha_mapped_mesh/vx300s_3_upper_arm.obj" />
<mesh file="aloha_mapped_mesh/vx300s_4_upper_forearm.obj" />
<mesh file="aloha_mapped_mesh/vx300s_5_lower_forearm.obj" />
<mesh file="aloha_mapped_mesh/vx300s_6_wrist.obj" />
<mesh file="aloha_mapped_mesh/vx300s_7_gripper_prop_bar.obj"/>
<mesh file="aloha_mapped_mesh/vx300s_8_custom_finger_left.obj"/>
<mesh file="aloha_mapped_mesh/vx300s_8_custom_finger_right.obj"/>
<mesh file="aloha_mapped_mesh/d405_solid.obj"/>
</asset>
<default>
<default class="vx300s">
<joint axis="0 1 0" actuatorfrcrange="-35 35"/>
<site group="4"/>
<default class="waist">
<joint axis="0 0 1" range="-3.14158 3.14158" damping="5.76"/>
<position ctrlrange="-3.14158 3.14158" kp="43"/>
</default>
<default class="shoulder">
<joint range="-1.85005 1.25664" armature="0.395" frictionloss="2.0" damping="20.0" actuatorfrcrange="-144 144"/>
<position ctrlrange="-1.85005 1.25664" kp="265"/>
</default>
<default class="elbow">
<joint range="-1.76278 1.6057" armature="0.383" frictionloss="1.15" damping="18.49" actuatorfrcrange="-59 59"/>
<position ctrlrange="-1.76278 1.6057" kp="227"/>
</default>
<default class="forearm_roll">
<joint axis="1 0 0" range="-3.14158 3.14158" armature="0.14" damping="6.78" actuatorfrcrange="-22 22"/>
<position ctrlrange="-3.14158 3.14158" kp="78"/>
</default>
<default class="wrist_angle">
<joint range="-1.8675 2.23402" armature="0.008" damping="6.28"/>
<position ctrlrange="-1.8675 2.23402" kp="37"/>
</default>
<default class="wrist_rotate">
<joint axis="1 0 0" range="-3.14158 3.14158" damping="1.2"/>
<position ctrlrange="-3.14158 3.14158" kp="10.4"/>
</default>
<default class="finger">
<joint type="slide" armature="0.243" damping="40"/>
<!--
The joint and control ranges are in meters, representing the linear displacement of the
finger on the rail. Note that the real robot takes in a float value representing the
position of the dynamixel servo, which actuates rotors and moves the fingers along the
the rail. We choose to model the displacement of the finger on the rail instead of the
position of the servo because the former is a more interpretable value.
Some useful values:
Length of rail = 12cm
Width of finger base = 1.9cm
Joint range should be (0.0cm, 4.1cm). This represents the _physical_ limits of the
fingers sliding along the rail. The 0 position represents when the inner edge of
the finger bases are touching each other at exactly the center of the rail.
4.1cm represents the outer edge of the finger bases touching the edge of the rail.
So the value always represents the distance from the inner edge of the finger base
to the center of the rail.
Control range is (0.2cm, 3.7cm). This represents measured values from a real robot
where the gripper is actuated to its fully closed and fully open positions. Therefore the
control range represents limits enforced by _software_ on the real robot.
-->
<position ctrlrange="0.002 0.037" kp="2000" kv="124"/>
<default class="left_finger">
<joint range="0 0.041" axis="0 0 -1"/>
</default>
<default class="right_finger">
<joint range="0 0.041" axis="0 0 -1"/>
</default>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="arm_material"/>
</default>
<default class="collision">
<geom group="3" type="mesh"/>
<default class="finger_collision">
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
</default>
<default class="sphere_collision">
<geom type="sphere" size="0.0006" rgba="1 0 0 1"/>
</default>
</default>
</default>
</default>
<worldbody>
<!-- <light mode="targetbodycom" target="left/gripper_link" pos="-.5 .7 2.5" cutoff="55"/>
<light mode="targetbodycom" target="right/gripper_link" pos=".5 .7 2.5" cutoff="55"/> -->
<camera name="teleoperator_pov" pos="0 -1.354 0.685" xyaxes="1 0 0 0 0.2 .8"/>
<camera name="collaborator_pov" pos="0 1.5 0.8" xyaxes="-1 0 0 0 -0.2 .8"/>
<body name="left/base_link" childclass="vx300s" pos="-0.469 -0.019 0.02">
<inertial pos="-0.0534774 -0.000562575 0.0205961" quat="-0.00292324 0.712517 0.00480387 0.701633" mass="0.969034"
diaginertia="0.0071633 0.00602451 0.00169819"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_1_base"/>
<geom quat="1 0 0 1" mesh="vx300s_1_base" class="collision"/>
<body name="left/shoulder_link" pos="0 0 0.079">
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614"
diaginertia="0.00120156 0.00113744 0.0009388"/>
<joint name="left/waist" class="waist"/>
<geom pos="0 0 -0.003" quat="1 0 0 1" class="visual" mesh="vx300s_2_shoulder"/>
<geom pos="0 0 -0.003" quat="1 0 0 1" mesh="vx300s_2_shoulder" class="collision"/>
<body name="left/upper_arm_link" pos="0 0 0.04805">
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592"
diaginertia="0.00911338 0.008925 0.000759317"/>
<joint name="left/shoulder" class="shoulder"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_3_upper_arm"/>
<geom quat="1 0 0 1" class="collision" mesh="vx300s_3_upper_arm"/>
<body name="left/upper_forearm_link" pos="0.05955 0 0.3">
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228"
diaginertia="0.00144107 0.00134228 0.000152047"/>
<joint name="left/elbow" class="elbow"/>
<geom class="visual" mesh="vx300s_4_upper_forearm"/>
<geom class="collision" mesh="vx300s_4_upper_forearm"/>
<body name="left/lower_forearm_link" pos="0.2 0 0">
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823"
diaginertia="0.0005911 0.000546493 0.000155707"/>
<joint name="left/forearm_roll" class="forearm_roll"/>
<geom quat="0 1 0 0" class="visual" mesh="vx300s_5_lower_forearm"/>
<geom quat="0 1 0 0" class="collision" mesh="vx300s_5_lower_forearm"/>
<body name="left/wrist_link" pos="0.1 0 0">
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387"
mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05"/>
<joint name="left/wrist_angle" class="wrist_angle"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_6_wrist"/>
<geom quat="1 0 0 1" class="collision" mesh="vx300s_6_wrist"/>
<body name="left/gripper_link" pos="0.069744 0 0">
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
<joint name="left/wrist_rotate" class="wrist_rotate"/>
<site name="left/gripper" pos="0.15 0 0" group="5"/>
<body name="left/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
mass="0.42158" diaginertia="0.00110438 0.000790537 0.000469727"/>
<geom class="visual" mesh="vx300s_7_gripper_prop_bar"/>
<geom class="collision" mesh="vx300s_7_gripper_prop_bar"/>
<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
<camera name="wrist_cam_left" pos="-0.011 -0.0814748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
<body name="left/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
<inertial pos="0.0143478 -0.0284791 0.0122897" quat="0.535486 0.458766 -0.450407 0.547651"
mass="0.0862937" diaginertia="5.86848e-05 4.46887e-05 1.8397e-05"/>
<joint name="left/left_finger" class="left_finger"/>
<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
mesh="vx300s_8_custom_finger_left"/>
<geom pos="0.0141637 0.0211727 0.06" class="finger_collision" quat="1 1 1 -1" type="mesh"
mesh="vx300s_8_custom_finger_left"/>
<geom pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
<site name="left/left_finger" pos="0.015 -0.06 0.02"/>
</body>
<body name="left/right_finger_link" pos="-0.0191 -0.0141637 0.0211727" quat="1 1 1 1">
<inertial pos="0.0143711 0.0284792 0.0121421" quat="0.461317 0.537615 -0.545478 0.447894"
mass="0.0862932" diaginertia="5.86828e-05 4.46887e-05 1.83949e-05"/>
<joint name="left/right_finger" class="right_finger"/>
<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
mesh="vx300s_8_custom_finger_right"/>
<geom pos="0.0141637 -0.0211727 0.0597067" class="finger_collision" quat="1 -1 -1 -1" type="mesh"
mesh="vx300s_8_custom_finger_right"/>
<geom pos="0.013 0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
<site name="left/right_finger" pos="0.015 0.06 0.02"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right/base_link" childclass="vx300s" pos="0.469 -0.019 0.02" quat="0 0 0 1">
<inertial pos="-0.0534774 -0.000562575 0.0205961" quat="-0.00292324 0.712517 0.00480387 0.701633" mass="0.969034"
diaginertia="0.0071633 0.00602451 0.00169819"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_1_base"/>
<geom quat="1 0 0 1" mesh="vx300s_1_base" class="collision"/>
<body name="right/shoulder_link" pos="0 0 0.079">
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614"
diaginertia="0.00120156 0.00113744 0.0009388"/>
<joint name="right/waist" class="waist"/>
<geom pos="0 0 -0.003" quat="1 0 0 1" class="visual" mesh="vx300s_2_shoulder"/>
<geom pos="0 0 -0.003" quat="1 0 0 1" mesh="vx300s_2_shoulder" class="collision"/>
<body name="right/upper_arm_link" pos="0 0 0.04805">
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592"
diaginertia="0.00911338 0.008925 0.000759317"/>
<joint name="right/shoulder" class="shoulder"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_3_upper_arm"/>
<geom quat="1 0 0 1" class="collision" mesh="vx300s_3_upper_arm"/>
<body name="right/upper_forearm_link" pos="0.05955 0 0.3">
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228"
diaginertia="0.00144107 0.00134228 0.000152047"/>
<joint name="right/elbow" class="elbow"/>
<geom class="visual" mesh="vx300s_4_upper_forearm"/>
<geom class="collision" mesh="vx300s_4_upper_forearm"/>
<body name="right/lower_forearm_link" pos="0.2 0 0">
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823"
diaginertia="0.0005911 0.000546493 0.000155707"/>
<joint name="right/forearm_roll" class="forearm_roll"/>
<geom quat="0 1 0 0" class="visual" mesh="vx300s_5_lower_forearm"/>
<geom quat="0 1 0 0" class="collision" mesh="vx300s_5_lower_forearm"/>
<body name="right/wrist_link" pos="0.1 0 0">
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387"
mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05"/>
<joint name="right/wrist_angle" class="wrist_angle"/>
<geom quat="1 0 0 1" class="visual" mesh="vx300s_6_wrist"/>
<geom quat="1 0 0 1" class="collision" mesh="vx300s_6_wrist"/>
<body name="right/gripper_link" pos="0.069744 0 0">
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
<joint name="right/wrist_rotate" class="wrist_rotate"/>
<site name="right/gripper" pos="0.15 0 0" group="5"/>
<body name="right/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
mass="0.42158" diaginertia="0.00110438 0.000790537 0.000469727"/>
<geom class="visual" mesh="vx300s_7_gripper_prop_bar"/>
<geom class="collision" mesh="vx300s_7_gripper_prop_bar"/>
<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
<camera name="wrist_cam_right" pos="-0.011 -0.0814748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
<body name="right/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
<inertial pos="0.0143478 -0.0284791 0.0122897" quat="0.535486 0.458766 -0.450407 0.547651"
mass="0.0862937" diaginertia="5.86848e-05 4.46887e-05 1.8397e-05"/>
<joint name="right/left_finger" class="left_finger"/>
<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
mesh="vx300s_8_custom_finger_left"/>
<geom pos="0.0141637 0.0211727 0.06" class="finger_collision" quat="1 1 1 -1" type="mesh"
mesh="vx300s_8_custom_finger_left"/>
<geom pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
<site name="right/left_finger" pos="0.015 -0.06 0.02"/>
</body>
<body name="right/right_finger_link" pos="-0.0191 -0.0141637 0.0211727" quat="1 1 1 1">
<inertial pos="0.0143711 0.0284792 0.0121421" quat="0.461317 0.537615 -0.545478 0.447894"
mass="0.0862932" diaginertia="5.86828e-05 4.46887e-05 1.83949e-05"/>
<joint name="right/right_finger" class="right_finger"/>
<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
mesh="vx300s_8_custom_finger_right"/>
<geom pos="0.0141637 -0.0211727 0.0597067" class="finger_collision" quat="1 -1 -1 -1" type="mesh"
mesh="vx300s_8_custom_finger_right"/>
<geom pos="0.013 0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
<geom pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
<site name="right/right_finger" pos="0.015 0.06 0.02"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="left/base_link" body2="left/shoulder_link"/>
<exclude body1="right/base_link" body2="right/shoulder_link"/>
</contact>
<equality>
<joint joint1="left/left_finger" joint2="left/right_finger" polycoef="0 1 0 0 0"/>
<joint joint1="right/left_finger" joint2="right/right_finger" polycoef="0 1 0 0 0"/>
</equality>
<include file="joint_position_actuators.xml"/>
</mujoco>
================================================
FILE: aloha_sim/assets/aloha/assets/aloha_mapped_mesh/d405_solid.obj
================================================
# Blender 4.1.1
# www.blender.org
o d405_solid
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gitextract_965o1qos/ ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── aloha_sim/ │ ├── __init__.py │ ├── assets/ │ │ ├── aloha/ │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── aloha_pbr.xml │ │ │ ├── assets/ │ │ │ │ ├── aloha_mapped_mesh/ │ │ │ │ │ ├── d405_solid.obj │ │ │ │ │ ├── overhead_mount.obj │ │ │ │ │ ├── vx300s_1_base.obj │ │ │ │ │ ├── vx300s_2_shoulder.obj │ │ │ │ │ ├── vx300s_3_upper_arm.obj │ │ │ │ │ ├── vx300s_4_upper_forearm.obj │ │ │ │ │ ├── vx300s_5_lower_forearm.obj │ │ │ │ │ ├── vx300s_6_wrist.obj │ │ │ │ │ ├── vx300s_7_gripper_prop_bar.obj │ │ │ │ │ ├── vx300s_8_custom_finger_left.obj │ │ │ │ │ ├── vx300s_8_custom_finger_right.obj │ │ │ │ │ └── wormseye_mount.obj │ │ │ │ ├── cell_extrusions/ │ │ │ │ │ └── cell_extrusions.obj │ │ │ │ ├── table_top/ │ │ │ │ │ └── table_mesh_mapped.obj │ │ │ │ └── tablelegs.obj │ │ │ ├── joint_position_actuators.xml │ │ │ └── scene_pbr.xml │ │ ├── edr/ │ │ │ ├── drawer/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── mk1157_counter_collision_01.stl │ │ │ │ │ ├── mk1157_counter_collision_02.stl │ │ │ │ │ ├── mk1157_counter_collision_03.stl │ │ │ │ │ ├── mk1157_counter_collision_04.stl │ │ │ │ │ ├── mk1157_counter_collision_05.stl │ │ │ │ │ ├── mk1157_counter_collision_06.stl │ │ │ │ │ ├── mk1157_counter_collision_07.stl │ │ │ │ │ ├── mk1157_drawer_collision_01.stl │ │ │ │ │ ├── mk1157_drawer_collision_02.stl │ │ │ │ │ ├── mk1157_drawer_collision_03.stl │ │ │ │ │ ├── mk1157_drawer_collision_04.stl │ │ │ │ │ ├── mk1157_drawer_collision_05.stl │ │ │ │ │ ├── mk1157_handle_collision_01.stl │ │ │ │ │ └── mk1157_handle_collision_02.stl │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ └── pen/ │ │ │ ├── material/ │ │ │ │ └── pen.mtl │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ └── textured.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ ├── gso/ │ │ │ ├── BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── coacd_part_011.obj │ │ │ │ │ ├── coacd_part_012.obj │ │ │ │ │ ├── coacd_part_013.obj │ │ │ │ │ ├── coacd_part_014.obj │ │ │ │ │ ├── coacd_part_015.obj │ │ │ │ │ ├── coacd_part_016.obj │ │ │ │ │ ├── coacd_part_017.obj │ │ │ │ │ ├── coacd_part_018.obj │ │ │ │ │ ├── coacd_part_019.obj │ │ │ │ │ ├── coacd_part_020.obj │ │ │ │ │ ├── coacd_part_021.obj │ │ │ │ │ ├── coacd_part_022.obj │ │ │ │ │ ├── coacd_part_023.obj │ │ │ │ │ ├── coacd_part_024.obj │ │ │ │ │ ├── coacd_part_025.obj │ │ │ │ │ ├── coacd_part_026.obj │ │ │ │ │ ├── coacd_part_027.obj │ │ │ │ │ ├── coacd_part_028.obj │ │ │ │ │ ├── coacd_part_029.obj │ │ │ │ │ ├── coacd_part_030.obj │ │ │ │ │ ├── coacd_part_031.obj │ │ │ │ │ ├── coacd_part_032.obj │ │ │ │ │ ├── coacd_part_033.obj │ │ │ │ │ ├── coacd_part_034.obj │ │ │ │ │ ├── coacd_part_035.obj │ │ │ │ │ ├── coacd_part_036.obj │ │ │ │ │ ├── coacd_part_037.obj │ │ │ │ │ ├── coacd_part_038.obj │ │ │ │ │ ├── coacd_part_039.obj │ │ │ │ │ ├── coacd_part_040.obj │ │ │ │ │ ├── coacd_part_041.obj │ │ │ │ │ ├── coacd_part_042.obj │ │ │ │ │ ├── coacd_part_043.obj │ │ │ │ │ ├── coacd_part_044.obj │ │ │ │ │ ├── coacd_part_045.obj │ │ │ │ │ ├── coacd_part_046.obj │ │ │ │ │ ├── coacd_part_047.obj │ │ │ │ │ ├── coacd_part_048.obj │ │ │ │ │ ├── coacd_part_049.obj │ │ │ │ │ ├── coacd_part_050.obj │ │ │ │ │ ├── coacd_part_051.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Craftsman_Grip_Screwdriver_Phillips_Cushion/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Diamond_Visions_Scissors_Red/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── coacd_part_011.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Granimals_20_Wooden_ABC_Blocks_Wagon/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── coacd_part_011.obj │ │ │ │ │ ├── coacd_part_012.obj │ │ │ │ │ ├── coacd_part_013.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Kingston_DT4000MR_G2_Management_Ready_USB_64GB/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── LICENSE │ │ │ ├── Magnifying_Glassassrt/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Razer_Kraken_Pro_headset_Full_size_Black_with_cable/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── coacd_part_011.obj │ │ │ │ │ ├── coacd_part_012.obj │ │ │ │ │ ├── coacd_part_013.obj │ │ │ │ │ ├── coacd_part_014.obj │ │ │ │ │ ├── coacd_part_015.obj │ │ │ │ │ ├── coacd_part_016.obj │ │ │ │ │ ├── coacd_part_017.obj │ │ │ │ │ ├── coacd_part_018.obj │ │ │ │ │ ├── coacd_part_019.obj │ │ │ │ │ ├── coacd_part_020.obj │ │ │ │ │ ├── coacd_part_021.obj │ │ │ │ │ ├── coacd_part_022.obj │ │ │ │ │ ├── coacd_part_023.obj │ │ │ │ │ ├── coacd_part_024.obj │ │ │ │ │ ├── coacd_part_025.obj │ │ │ │ │ ├── coacd_part_026.obj │ │ │ │ │ ├── coacd_part_027.obj │ │ │ │ │ ├── coacd_part_028.obj │ │ │ │ │ ├── coacd_part_029.obj │ │ │ │ │ ├── coacd_part_030.obj │ │ │ │ │ ├── coacd_part_031.obj │ │ │ │ │ ├── coacd_part_032.obj │ │ │ │ │ ├── coacd_part_033.obj │ │ │ │ │ ├── coacd_part_034.obj │ │ │ │ │ ├── coacd_part_035.obj │ │ │ │ │ ├── coacd_part_036.obj │ │ │ │ │ ├── coacd_part_037.obj │ │ │ │ │ ├── coacd_part_038.obj │ │ │ │ │ ├── coacd_part_039.obj │ │ │ │ │ ├── coacd_part_040.obj │ │ │ │ │ ├── coacd_part_041.obj │ │ │ │ │ ├── coacd_part_042.obj │ │ │ │ │ ├── coacd_part_043.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Rubbermaid_Large_Drainer/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── coacd_merged.obj │ │ │ │ │ ├── coacd_part_000.obj │ │ │ │ │ ├── coacd_part_001.obj │ │ │ │ │ ├── coacd_part_002.obj │ │ │ │ │ ├── coacd_part_003.obj │ │ │ │ │ ├── coacd_part_004.obj │ │ │ │ │ ├── coacd_part_005.obj │ │ │ │ │ ├── coacd_part_006.obj │ │ │ │ │ ├── coacd_part_007.obj │ │ │ │ │ ├── coacd_part_008.obj │ │ │ │ │ ├── coacd_part_009.obj │ │ │ │ │ ├── coacd_part_010.obj │ │ │ │ │ ├── coacd_part_011.obj │ │ │ │ │ ├── coacd_part_012.obj │ │ │ │ │ ├── coacd_part_013.obj │ │ │ │ │ ├── coacd_part_014.obj │ │ │ │ │ ├── coacd_part_015.obj │ │ │ │ │ ├── coacd_part_016.obj │ │ │ │ │ ├── coacd_part_017.obj │ │ │ │ │ ├── coacd_part_018.obj │ │ │ │ │ ├── coacd_part_019.obj │ │ │ │ │ ├── coacd_part_020.obj │ │ │ │ │ ├── coacd_part_021.obj │ │ │ │ │ ├── coacd_part_022.obj │ │ │ │ │ ├── coacd_part_023.obj │ │ │ │ │ ├── coacd_part_024.obj │ │ │ │ │ ├── coacd_part_025.obj │ │ │ │ │ ├── coacd_part_026.obj │ │ │ │ │ ├── coacd_part_027.obj │ │ │ │ │ ├── coacd_part_028.obj │ │ │ │ │ ├── coacd_part_029.obj │ │ │ │ │ ├── coacd_part_030.obj │ │ │ │ │ ├── coacd_part_031.obj │ │ │ │ │ ├── coacd_part_032.obj │ │ │ │ │ ├── coacd_part_033.obj │ │ │ │ │ ├── coacd_part_034.obj │ │ │ │ │ ├── coacd_part_035.obj │ │ │ │ │ ├── coacd_part_036.obj │ │ │ │ │ ├── coacd_part_037.obj │ │ │ │ │ ├── coacd_part_038.obj │ │ │ │ │ ├── coacd_part_039.obj │ │ │ │ │ ├── coacd_part_040.obj │ │ │ │ │ ├── coacd_part_041.obj │ │ │ │ │ ├── coacd_part_042.obj │ │ │ │ │ ├── coacd_part_043.obj │ │ │ │ │ ├── coacd_part_044.obj │ │ │ │ │ ├── coacd_part_045.obj │ │ │ │ │ ├── coacd_part_046.obj │ │ │ │ │ ├── coacd_part_047.obj │ │ │ │ │ ├── coacd_part_048.obj │ │ │ │ │ ├── coacd_part_049.obj │ │ │ │ │ ├── coacd_part_050.obj │ │ │ │ │ ├── coacd_part_051.obj │ │ │ │ │ ├── coacd_part_052.obj │ │ │ │ │ ├── coacd_part_053.obj │ │ │ │ │ ├── coacd_part_054.obj │ │ │ │ │ ├── coacd_part_055.obj │ │ │ │ │ ├── coacd_part_056.obj │ │ │ │ │ ├── coacd_part_057.obj │ │ │ │ │ ├── coacd_part_058.obj │ │ │ │ │ ├── coacd_part_059.obj │ │ │ │ │ ├── coacd_part_060.obj │ │ │ │ │ ├── coacd_part_061.obj │ │ │ │ │ ├── coacd_part_062.obj │ │ │ │ │ ├── coacd_part_063.obj │ │ │ │ │ ├── coacd_part_064.obj │ │ │ │ │ ├── coacd_part_065.obj │ │ │ │ │ ├── coacd_part_066.obj │ │ │ │ │ ├── coacd_part_067.obj │ │ │ │ │ ├── coacd_part_068.obj │ │ │ │ │ ├── coacd_part_069.obj │ │ │ │ │ ├── coacd_part_070.obj │ │ │ │ │ ├── coacd_part_071.obj │ │ │ │ │ ├── coacd_part_072.obj │ │ │ │ │ ├── coacd_part_073.obj │ │ │ │ │ ├── coacd_part_074.obj │ │ │ │ │ ├── coacd_part_075.obj │ │ │ │ │ ├── coacd_part_076.obj │ │ │ │ │ ├── coacd_part_077.obj │ │ │ │ │ ├── coacd_part_078.obj │ │ │ │ │ ├── coacd_part_079.obj │ │ │ │ │ ├── coacd_part_080.obj │ │ │ │ │ ├── coacd_part_081.obj │ │ │ │ │ ├── coacd_part_082.obj │ │ │ │ │ ├── coacd_part_083.obj │ │ │ │ │ ├── coacd_part_084.obj │ │ │ │ │ ├── coacd_part_085.obj │ │ │ │ │ ├── coacd_part_086.obj │ │ │ │ │ ├── coacd_part_087.obj │ │ │ │ │ ├── coacd_part_088.obj │ │ │ │ │ ├── coacd_part_089.obj │ │ │ │ │ ├── coacd_part_090.obj │ │ │ │ │ ├── coacd_part_091.obj │ │ │ │ │ ├── coacd_part_092.obj │ │ │ │ │ ├── coacd_part_093.obj │ │ │ │ │ ├── coacd_part_094.obj │ │ │ │ │ ├── coacd_part_095.obj │ │ │ │ │ ├── coacd_part_096.obj │ │ │ │ │ ├── coacd_part_097.obj │ │ │ │ │ ├── coacd_part_098.obj │ │ │ │ │ ├── coacd_part_099.obj │ │ │ │ │ ├── coacd_part_100.obj │ │ │ │ │ ├── coacd_part_101.obj │ │ │ │ │ ├── coacd_part_102.obj │ │ │ │ │ ├── coacd_part_103.obj │ │ │ │ │ ├── coacd_part_104.obj │ │ │ │ │ ├── coacd_part_105.obj │ │ │ │ │ ├── coacd_part_106.obj │ │ │ │ │ ├── coacd_part_107.obj │ │ │ │ │ ├── coacd_part_108.obj │ │ │ │ │ ├── coacd_part_109.obj │ │ │ │ │ ├── coacd_part_110.obj │ │ │ │ │ ├── coacd_part_111.obj │ │ │ │ │ ├── coacd_part_112.obj │ │ │ │ │ ├── coacd_part_113.obj │ │ │ │ │ ├── coacd_part_114.obj │ │ │ │ │ ├── coacd_part_115.obj │ │ │ │ │ ├── coacd_part_116.obj │ │ │ │ │ ├── coacd_part_117.obj │ │ │ │ │ ├── coacd_part_118.obj │ │ │ │ │ ├── coacd_part_119.obj │ │ │ │ │ ├── coacd_part_120.obj │ │ │ │ │ ├── coacd_part_121.obj │ │ │ │ │ ├── coacd_part_122.obj │ │ │ │ │ ├── coacd_part_123.obj │ │ │ │ │ ├── coacd_part_124.obj │ │ │ │ │ ├── coacd_part_125.obj │ │ │ │ │ ├── coacd_part_126.obj │ │ │ │ │ ├── coacd_part_127.obj │ │ │ │ │ ├── coacd_part_128.obj │ │ │ │ │ ├── coacd_part_129.obj │ │ │ │ │ ├── coacd_part_130.obj │ │ │ │ │ ├── coacd_part_131.obj │ │ │ │ │ ├── coacd_part_132.obj │ │ │ │ │ ├── coacd_part_133.obj │ │ │ │ │ ├── coacd_part_134.obj │ │ │ │ │ ├── coacd_part_135.obj │ │ │ │ │ ├── coacd_part_136.obj │ │ │ │ │ ├── coacd_part_137.obj │ │ │ │ │ ├── coacd_part_138.obj │ │ │ │ │ ├── coacd_part_139.obj │ │ │ │ │ ├── coacd_part_140.obj │ │ │ │ │ ├── coacd_part_141.obj │ │ │ │ │ ├── coacd_part_142.obj │ │ │ │ │ ├── coacd_part_143.obj │ │ │ │ │ ├── model.mtl │ │ │ │ │ └── model.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ └── Sterilite_Caddy_Blue_Sky_17_58_x_12_58_x_9_14/ │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ ├── coacd_part_001.obj │ │ │ │ ├── coacd_part_002.obj │ │ │ │ ├── coacd_part_003.obj │ │ │ │ ├── coacd_part_004.obj │ │ │ │ ├── coacd_part_005.obj │ │ │ │ ├── coacd_part_006.obj │ │ │ │ ├── coacd_part_007.obj │ │ │ │ ├── coacd_part_008.obj │ │ │ │ ├── coacd_part_009.obj │ │ │ │ ├── coacd_part_010.obj │ │ │ │ ├── coacd_part_011.obj │ │ │ │ ├── coacd_part_012.obj │ │ │ │ ├── coacd_part_013.obj │ │ │ │ ├── coacd_part_014.obj │ │ │ │ ├── coacd_part_015.obj │ │ │ │ ├── coacd_part_016.obj │ │ │ │ ├── coacd_part_017.obj │ │ │ │ ├── coacd_part_018.obj │ │ │ │ ├── coacd_part_019.obj │ │ │ │ ├── coacd_part_020.obj │ │ │ │ ├── coacd_part_021.obj │ │ │ │ ├── coacd_part_022.obj │ │ │ │ ├── coacd_part_023.obj │ │ │ │ ├── coacd_part_024.obj │ │ │ │ ├── coacd_part_025.obj │ │ │ │ ├── coacd_part_026.obj │ │ │ │ ├── coacd_part_027.obj │ │ │ │ ├── coacd_part_028.obj │ │ │ │ ├── coacd_part_029.obj │ │ │ │ ├── coacd_part_030.obj │ │ │ │ ├── coacd_part_031.obj │ │ │ │ ├── coacd_part_032.obj │ │ │ │ ├── coacd_part_033.obj │ │ │ │ ├── coacd_part_034.obj │ │ │ │ ├── coacd_part_035.obj │ │ │ │ ├── coacd_part_036.obj │ │ │ │ ├── coacd_part_037.obj │ │ │ │ ├── coacd_part_038.obj │ │ │ │ ├── coacd_part_039.obj │ │ │ │ ├── coacd_part_040.obj │ │ │ │ ├── coacd_part_041.obj │ │ │ │ ├── coacd_part_042.obj │ │ │ │ ├── coacd_part_043.obj │ │ │ │ ├── coacd_part_044.obj │ │ │ │ ├── coacd_part_045.obj │ │ │ │ ├── coacd_part_046.obj │ │ │ │ ├── coacd_part_047.obj │ │ │ │ ├── coacd_part_048.obj │ │ │ │ ├── coacd_part_049.obj │ │ │ │ ├── coacd_part_050.obj │ │ │ │ ├── coacd_part_051.obj │ │ │ │ ├── coacd_part_052.obj │ │ │ │ ├── coacd_part_053.obj │ │ │ │ ├── coacd_part_054.obj │ │ │ │ ├── coacd_part_055.obj │ │ │ │ ├── coacd_part_056.obj │ │ │ │ ├── coacd_part_057.obj │ │ │ │ ├── coacd_part_058.obj │ │ │ │ ├── coacd_part_059.obj │ │ │ │ ├── coacd_part_060.obj │ │ │ │ ├── coacd_part_061.obj │ │ │ │ ├── coacd_part_062.obj │ │ │ │ ├── coacd_part_063.obj │ │ │ │ ├── coacd_part_064.obj │ │ │ │ ├── coacd_part_065.obj │ │ │ │ ├── coacd_part_066.obj │ │ │ │ ├── coacd_part_067.obj │ │ │ │ ├── coacd_part_068.obj │ │ │ │ ├── coacd_part_069.obj │ │ │ │ ├── coacd_part_070.obj │ │ │ │ ├── coacd_part_071.obj │ │ │ │ ├── coacd_part_072.obj │ │ │ │ ├── coacd_part_073.obj │ │ │ │ ├── coacd_part_074.obj │ │ │ │ ├── coacd_part_075.obj │ │ │ │ ├── coacd_part_076.obj │ │ │ │ ├── coacd_part_077.obj │ │ │ │ ├── coacd_part_078.obj │ │ │ │ ├── coacd_part_079.obj │ │ │ │ ├── coacd_part_080.obj │ │ │ │ ├── coacd_part_081.obj │ │ │ │ ├── model.mtl │ │ │ │ └── model.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ ├── mujoco/ │ │ │ ├── Laptop/ │ │ │ │ ├── meshes/ │ │ │ │ │ ├── laptop_body.obj │ │ │ │ │ ├── laptop_body_collision.obj │ │ │ │ │ ├── laptop_body_collision_001.obj │ │ │ │ │ ├── laptop_body_collision_002.obj │ │ │ │ │ ├── laptop_body_collision_003.obj │ │ │ │ │ ├── laptop_body_collision_004.obj │ │ │ │ │ ├── laptop_body_collision_005.obj │ │ │ │ │ ├── laptop_body_collision_006.obj │ │ │ │ │ ├── laptop_screen.obj │ │ │ │ │ ├── laptop_screen_collision.obj │ │ │ │ │ ├── laptop_screen_collision_007.obj │ │ │ │ │ ├── laptop_screen_collision_008.obj │ │ │ │ │ ├── laptop_screen_collision_009.obj │ │ │ │ │ ├── laptop_screen_collision_010.obj │ │ │ │ │ ├── laptop_screen_collision_011.obj │ │ │ │ │ ├── laptop_screen_collision_012.obj │ │ │ │ │ └── laptop_screen_collision_013.obj │ │ │ │ ├── model.xml │ │ │ │ └── scene.xml │ │ │ ├── Marker/ │ │ │ │ ├── cap.xml │ │ │ │ ├── marker.xml │ │ │ │ ├── meshes/ │ │ │ │ │ ├── cap.obj │ │ │ │ │ ├── cap_collision_001.obj │ │ │ │ │ ├── cap_collision_002.obj │ │ │ │ │ ├── cap_collision_003.obj │ │ │ │ │ ├── cap_collision_004.obj │ │ │ │ │ ├── cap_collision_005.obj │ │ │ │ │ ├── cap_collision_006.obj │ │ │ │ │ ├── cap_collision_007.obj │ │ │ │ │ ├── cap_collision_008.obj │ │ │ │ │ ├── cap_collision_009.obj │ │ │ │ │ ├── cap_collision_high_friction_001.obj │ │ │ │ │ ├── cap_collision_high_friction_002.obj │ │ │ │ │ ├── cap_collision_high_friction_003.obj │ │ │ │ │ ├── cap_collision_high_friction_004.obj │ │ │ │ │ ├── cap_collision_high_friction_005.obj │ │ │ │ │ ├── cap_collision_high_friction_006.obj │ │ │ │ │ ├── cap_collision_high_friction_007.obj │ │ │ │ │ ├── cap_collision_high_friction_008.obj │ │ │ │ │ ├── cap_collision_high_friction_009.obj │ │ │ │ │ ├── cap_collision_high_friction_010.obj │ │ │ │ │ ├── cap_collision_high_friction_011.obj │ │ │ │ │ ├── cap_collision_high_friction_012.obj │ │ │ │ │ ├── cap_collision_high_friction_013.obj │ │ │ │ │ ├── cap_collision_high_friction_014.obj │ │ │ │ │ ├── cap_collision_high_friction_015.obj │ │ │ │ │ ├── cap_collision_high_friction_016.obj │ │ │ │ │ ├── marker.obj │ │ │ │ │ ├── marker_collision_001.obj │ │ │ │ │ ├── marker_collision_002.obj │ │ │ │ │ ├── marker_collision_003.obj │ │ │ │ │ ├── marker_collision_004.obj │ │ │ │ │ ├── marker_collision_005.obj │ │ │ │ │ ├── marker_collision_006.obj │ │ │ │ │ ├── marker_collision_007.obj │ │ │ │ │ ├── marker_collision_008.obj │ │ │ │ │ ├── marker_collision_009.obj │ │ │ │ │ ├── marker_collision_010.obj │ │ │ │ │ ├── marker_collision_011.obj │ │ │ │ │ ├── marker_collision_012.obj │ │ │ │ │ ├── marker_collision_013.obj │ │ │ │ │ ├── marker_collision_014.obj │ │ │ │ │ ├── marker_collision_015.obj │ │ │ │ │ ├── marker_collision_016.obj │ │ │ │ │ ├── marker_collision_high_friction_001.obj │ │ │ │ │ ├── marker_collision_high_friction_002.obj │ │ │ │ │ ├── marker_collision_high_friction_003.obj │ │ │ │ │ ├── marker_collision_high_friction_004.obj │ │ │ │ │ ├── marker_collision_high_friction_005.obj │ │ │ │ │ ├── marker_collision_high_friction_006.obj │ │ │ │ │ ├── marker_collision_high_friction_007.obj │ │ │ │ │ └── marker_collision_high_friction_008.obj │ │ │ │ └── scene.xml │ │ │ └── Towel/ │ │ │ ├── model.xml │ │ │ ├── original.xml │ │ │ └── scene.xml │ │ └── ycb/ │ │ ├── 011_banana/ │ │ │ └── google_64k/ │ │ │ ├── materials/ │ │ │ │ └── textured.mtl │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ ├── coacd_part_001.obj │ │ │ │ ├── coacd_part_002.obj │ │ │ │ ├── coacd_part_003.obj │ │ │ │ └── textured.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ ├── 024_bowl/ │ │ │ └── google_64k/ │ │ │ ├── materials/ │ │ │ │ └── textured.mtl │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ ├── coacd_part_001.obj │ │ │ │ ├── coacd_part_002.obj │ │ │ │ ├── coacd_part_003.obj │ │ │ │ ├── coacd_part_004.obj │ │ │ │ ├── coacd_part_005.obj │ │ │ │ ├── coacd_part_006.obj │ │ │ │ ├── coacd_part_007.obj │ │ │ │ ├── coacd_part_008.obj │ │ │ │ ├── coacd_part_009.obj │ │ │ │ ├── coacd_part_010.obj │ │ │ │ ├── coacd_part_011.obj │ │ │ │ ├── coacd_part_012.obj │ │ │ │ ├── coacd_part_013.obj │ │ │ │ ├── coacd_part_014.obj │ │ │ │ ├── coacd_part_015.obj │ │ │ │ ├── coacd_part_016.obj │ │ │ │ ├── coacd_part_017.obj │ │ │ │ ├── coacd_part_018.obj │ │ │ │ ├── coacd_part_019.obj │ │ │ │ ├── coacd_part_020.obj │ │ │ │ ├── coacd_part_021.obj │ │ │ │ ├── coacd_part_022.obj │ │ │ │ ├── coacd_part_023.obj │ │ │ │ ├── coacd_part_024.obj │ │ │ │ ├── coacd_part_025.obj │ │ │ │ ├── coacd_part_026.obj │ │ │ │ ├── coacd_part_027.obj │ │ │ │ ├── coacd_part_028.obj │ │ │ │ ├── coacd_part_029.obj │ │ │ │ ├── coacd_part_030.obj │ │ │ │ ├── coacd_part_031.obj │ │ │ │ ├── coacd_part_032.obj │ │ │ │ ├── coacd_part_033.obj │ │ │ │ ├── coacd_part_034.obj │ │ │ │ ├── coacd_part_035.obj │ │ │ │ ├── coacd_part_036.obj │ │ │ │ ├── coacd_part_037.obj │ │ │ │ ├── coacd_part_038.obj │ │ │ │ ├── coacd_part_039.obj │ │ │ │ ├── coacd_part_040.obj │ │ │ │ ├── coacd_part_041.obj │ │ │ │ ├── coacd_part_042.obj │ │ │ │ ├── coacd_part_043.obj │ │ │ │ ├── coacd_part_044.obj │ │ │ │ ├── coacd_part_045.obj │ │ │ │ ├── coacd_part_046.obj │ │ │ │ ├── coacd_part_047.obj │ │ │ │ ├── coacd_part_048.obj │ │ │ │ ├── coacd_part_049.obj │ │ │ │ ├── coacd_part_050.obj │ │ │ │ ├── coacd_part_051.obj │ │ │ │ ├── coacd_part_052.obj │ │ │ │ └── textured.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ ├── 025_mug/ │ │ │ └── google_64k/ │ │ │ ├── materials/ │ │ │ │ └── textured.mtl │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ ├── coacd_part_001.obj │ │ │ │ ├── coacd_part_002.obj │ │ │ │ ├── coacd_part_003.obj │ │ │ │ ├── coacd_part_004.obj │ │ │ │ ├── coacd_part_005.obj │ │ │ │ ├── coacd_part_006.obj │ │ │ │ ├── coacd_part_007.obj │ │ │ │ ├── coacd_part_008.obj │ │ │ │ ├── coacd_part_009.obj │ │ │ │ ├── coacd_part_010.obj │ │ │ │ ├── coacd_part_011.obj │ │ │ │ ├── coacd_part_012.obj │ │ │ │ ├── coacd_part_013.obj │ │ │ │ ├── coacd_part_014.obj │ │ │ │ ├── coacd_part_015.obj │ │ │ │ ├── coacd_part_016.obj │ │ │ │ ├── coacd_part_017.obj │ │ │ │ ├── coacd_part_018.obj │ │ │ │ ├── coacd_part_019.obj │ │ │ │ ├── coacd_part_020.obj │ │ │ │ ├── coacd_part_021.obj │ │ │ │ ├── coacd_part_022.obj │ │ │ │ ├── coacd_part_023.obj │ │ │ │ ├── coacd_part_024.obj │ │ │ │ ├── coacd_part_025.obj │ │ │ │ ├── coacd_part_026.obj │ │ │ │ ├── coacd_part_027.obj │ │ │ │ ├── coacd_part_028.obj │ │ │ │ ├── coacd_part_029.obj │ │ │ │ ├── coacd_part_030.obj │ │ │ │ ├── coacd_part_031.obj │ │ │ │ ├── coacd_part_032.obj │ │ │ │ ├── coacd_part_033.obj │ │ │ │ ├── coacd_part_034.obj │ │ │ │ ├── coacd_part_035.obj │ │ │ │ ├── coacd_part_036.obj │ │ │ │ ├── coacd_part_037.obj │ │ │ │ ├── coacd_part_038.obj │ │ │ │ ├── coacd_part_039.obj │ │ │ │ ├── coacd_part_040.obj │ │ │ │ ├── coacd_part_041.obj │ │ │ │ ├── coacd_part_042.obj │ │ │ │ ├── coacd_part_043.obj │ │ │ │ ├── coacd_part_044.obj │ │ │ │ ├── coacd_part_045.obj │ │ │ │ ├── coacd_part_046.obj │ │ │ │ ├── coacd_part_047.obj │ │ │ │ ├── coacd_part_048.obj │ │ │ │ ├── coacd_part_049.obj │ │ │ │ ├── coacd_part_050.obj │ │ │ │ ├── coacd_part_051.obj │ │ │ │ ├── coacd_part_052.obj │ │ │ │ ├── coacd_part_053.obj │ │ │ │ ├── coacd_part_054.obj │ │ │ │ ├── coacd_part_055.obj │ │ │ │ ├── coacd_part_056.obj │ │ │ │ ├── coacd_part_057.obj │ │ │ │ ├── coacd_part_058.obj │ │ │ │ ├── coacd_part_059.obj │ │ │ │ ├── coacd_part_060.obj │ │ │ │ ├── coacd_part_061.obj │ │ │ │ ├── coacd_part_062.obj │ │ │ │ ├── coacd_part_063.obj │ │ │ │ ├── coacd_part_064.obj │ │ │ │ ├── coacd_part_065.obj │ │ │ │ ├── coacd_part_066.obj │ │ │ │ ├── coacd_part_067.obj │ │ │ │ ├── coacd_part_068.obj │ │ │ │ ├── coacd_part_069.obj │ │ │ │ ├── coacd_part_070.obj │ │ │ │ ├── coacd_part_071.obj │ │ │ │ ├── coacd_part_072.obj │ │ │ │ ├── coacd_part_073.obj │ │ │ │ ├── textured.obj │ │ │ │ └── white_mug.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ ├── 029_plate/ │ │ │ └── google_64k/ │ │ │ ├── materials/ │ │ │ │ └── textured.mtl │ │ │ ├── meshes/ │ │ │ │ ├── coacd_merged.obj │ │ │ │ ├── coacd_part_000.obj │ │ │ │ ├── coacd_part_001.obj │ │ │ │ ├── coacd_part_002.obj │ │ │ │ ├── coacd_part_003.obj │ │ │ │ ├── coacd_part_004.obj │ │ │ │ ├── coacd_part_005.obj │ │ │ │ ├── coacd_part_006.obj │ │ │ │ ├── coacd_part_007.obj │ │ │ │ ├── coacd_part_008.obj │ │ │ │ ├── coacd_part_009.obj │ │ │ │ ├── coacd_part_010.obj │ │ │ │ ├── coacd_part_011.obj │ │ │ │ ├── coacd_part_012.obj │ │ │ │ ├── coacd_part_013.obj │ │ │ │ ├── coacd_part_014.obj │ │ │ │ ├── coacd_part_015.obj │ │ │ │ ├── coacd_part_016.obj │ │ │ │ ├── coacd_part_017.obj │ │ │ │ └── textured.obj │ │ │ ├── model.xml │ │ │ └── scene.xml │ │ └── LICENSE │ ├── run_eval.py │ ├── task_suite.py │ ├── tasks/ │ │ ├── __init__.py │ │ ├── base/ │ │ │ ├── __init__.py │ │ │ ├── aloha2_task.py │ │ │ ├── desktop.py │ │ │ ├── dining.py │ │ │ ├── dish_on_rack.py │ │ │ ├── drawer.py │ │ │ ├── laptop.py │ │ │ ├── marker.py │ │ │ ├── tools.py │ │ │ └── towel.py │ │ ├── blocks_spelling.py │ │ ├── bowl_on_rack.py │ │ ├── desktop_wrap_headphone.py │ │ ├── dining_place_in_container.py │ │ ├── drawer_open.py │ │ ├── hand_over.py │ │ ├── laptop_close.py │ │ ├── marker_remove_lid.py │ │ ├── test/ │ │ │ ├── __init__.py │ │ │ ├── aloha2_task_test.py │ │ │ ├── blocks_spelling_test.py │ │ │ ├── desktop_test.py │ │ │ ├── dining_test.py │ │ │ ├── dish_on_rack_test.py │ │ │ ├── drawer_test.py │ │ │ ├── hand_over_test.py │ │ │ ├── laptop_test.py │ │ │ ├── marker_test.py │ │ │ ├── tools_test.py │ │ │ └── towel_test.py │ │ ├── tools_in_caddy.py │ │ └── towel_fold_in_half.py │ ├── utils/ │ │ ├── __init__.py │ │ ├── oobb_utils.py │ │ └── success_detector_utils.py │ └── viewer.py └── pyproject.toml
SYMBOL INDEX (164 symbols across 35 files)
FILE: aloha_sim/run_eval.py
function _append_task_instruction (line 68) | def _append_task_instruction(
function run_episode (line 77) | def run_episode(
function main (line 130) | def main(_):
FILE: aloha_sim/task_suite.py
function create_task_env (line 99) | def create_task_env(
FILE: aloha_sim/tasks/base/aloha2_task.py
class GripperLimit (line 80) | class GripperLimit:
class GeomGroup (line 135) | class GeomGroup(enum.IntFlag):
class AlohaTask (line 145) | class AlohaTask(composer.Task):
method __init__ (line 148) | def __init__(
method root_entity (line 288) | def root_entity(self) -> composer.Entity:
method task_observables (line 292) | def task_observables(self) -> Mapping[str, observable.Observable]:
method action_spec (line 297) | def action_spec(self, physics: mjcf.Physics) -> specs.BoundedArray:
method convert_gripper (line 319) | def convert_gripper(
method before_step (line 331) | def before_step(
method get_reward (line 364) | def get_reward(self, physics: mjcf.Physics) -> float:
method get_discount (line 367) | def get_discount(self, physics: mjcf.Physics) -> float:
method should_terminate_episode (line 372) | def should_terminate_episode(self, physics: mjcf.Physics) -> bool:
method initialize_episode (line 379) | def initialize_episode(
class AlohaObservables (line 393) | class AlohaObservables(composer.Observables):
method as_dict (line 396) | def as_dict(
method joints_pos (line 402) | def joints_pos(self) -> observable.Observable:
method commanded_joints_pos (line 424) | def commanded_joints_pos(self) -> observable.Observable:
method joints_vel (line 451) | def joints_vel(self) -> observable.Observable:
method physics_state (line 458) | def physics_state(self) -> observable.Observable:
class Arena (line 462) | class Arena(composer.Arena):
method __init__ (line 468) | def __init__(
method _build (line 482) | def _build(self, name: str | None = None) -> None:
FILE: aloha_sim/tasks/base/desktop.py
class Desktop (line 48) | class Desktop(aloha2_task.AlohaTask):
method __init__ (line 51) | def __init__(
method initialize_episode (line 101) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/dining.py
class Dining (line 39) | class Dining(aloha2_task.AlohaTask):
method __init__ (line 42) | def __init__(
method _sample_props (line 162) | def _sample_props(self, random_state):
method initialize_episode (line 230) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/dish_on_rack.py
class DishOnRack (line 59) | class DishOnRack(aloha2_task.AlohaTask):
method __init__ (line 62) | def __init__(
method initialize_episode (line 139) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/drawer.py
class Drawer (line 47) | class Drawer(aloha2_task.AlohaTask):
method __init__ (line 51) | def __init__(
method initialize_episode (line 103) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/laptop.py
class Laptop (line 47) | class Laptop(aloha2_task.AlohaTask):
method __init__ (line 50) | def __init__(
method initialize_episode (line 100) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/marker.py
class Marker (line 50) | class Marker(aloha2_task.AlohaTask):
method __init__ (line 53) | def __init__(
method initialize_episode (line 122) | def initialize_episode(
FILE: aloha_sim/tasks/base/tools.py
class Tools (line 39) | class Tools(aloha2_task.AlohaTask):
method __init__ (line 42) | def __init__(
method _sample_props (line 152) | def _sample_props(self, physics, random_state):
method initialize_episode (line 250) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/base/towel.py
class Towel (line 46) | class Towel(aloha2_task.AlohaTask):
method __init__ (line 49) | def __init__(
method get_reward (line 93) | def get_reward(self, physics):
method initialize_episode (line 96) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/blocks_spelling.py
function block_xml_pattern (line 55) | def block_xml_pattern(letter, assets_dir):
class BlocksSpelling (line 73) | class BlocksSpelling(aloha2_task.AlohaTask):
method __init__ (line 80) | def __init__(
method get_reward (line 124) | def get_reward(self, physics):
method initialize_episode (line 163) | def initialize_episode(self, physics, random_state):
method get_instruction (line 168) | def get_instruction(self) -> str:
FILE: aloha_sim/tasks/bowl_on_rack.py
class BowlOnRack (line 24) | class BowlOnRack(dish_on_rack.DishOnRack):
method __init__ (line 27) | def __init__(
method get_reward (line 57) | def get_reward(self, physics):
method get_instruction (line 108) | def get_instruction(self):
FILE: aloha_sim/tasks/desktop_wrap_headphone.py
class DesktopWrapHeadphone (line 74) | class DesktopWrapHeadphone(desktop.Desktop):
method __init__ (line 77) | def __init__(
method get_reward (line 125) | def get_reward(self, physics):
method get_instruction (line 220) | def get_instruction(self):
method initialize_episode (line 226) | def initialize_episode(self, physics, random_state):
FILE: aloha_sim/tasks/dining_place_in_container.py
class DiningPlaceInContainer (line 26) | class DiningPlaceInContainer(dining.Dining):
method __init__ (line 29) | def __init__(self,
method get_reward (line 78) | def get_reward(self, physics):
method get_instruction (line 159) | def get_instruction(self):
FILE: aloha_sim/tasks/drawer_open.py
class DrawerOpen (line 23) | class DrawerOpen(drawer.Drawer):
method get_reward (line 27) | def get_reward(self, physics):
method get_instruction (line 41) | def get_instruction(self):
FILE: aloha_sim/tasks/hand_over.py
class HandOverTaskConfig (line 59) | class HandOverTaskConfig:
class HandOver (line 122) | class HandOver(aloha2_task.AlohaTask):
method __init__ (line 129) | def __init__(
method get_reward (line 245) | def get_reward(self, physics):
method initialize_episode (line 340) | def initialize_episode(self, physics, random_state):
method get_instruction (line 348) | def get_instruction(self):
FILE: aloha_sim/tasks/laptop_close.py
class LaptopClose (line 26) | class LaptopClose(laptop.Laptop):
method get_reward (line 29) | def get_reward(self, physics):
method initialize_episode (line 42) | def initialize_episode(self, physics, random_state):
method get_instruction (line 50) | def get_instruction(self):
FILE: aloha_sim/tasks/marker_remove_lid.py
class MarkerRemoveLid (line 28) | class MarkerRemoveLid(marker.Marker):
method __init__ (line 31) | def __init__(
method _get_geometry_ids (line 44) | def _get_geometry_ids(
method _get_all_elements_in_contact_with_prop (line 51) | def _get_all_elements_in_contact_with_prop(
method _is_object_on_table (line 73) | def _is_object_on_table(
method _is_object_being_grasped (line 79) | def _is_object_being_grasped(
method _is_object_moving (line 87) | def _is_object_moving(
method _is_lid_removed (line 96) | def _is_lid_removed(self, physics: mjcf.Physics) -> bool:
method get_reward (line 105) | def get_reward(self, physics: mjcf.Physics) -> float:
method get_instruction (line 120) | def get_instruction(self) -> str:
FILE: aloha_sim/tasks/test/aloha2_task_test.py
class AlohaTaskTest (line 23) | class AlohaTaskTest(unittest.TestCase):
method test_menagerie (line 25) | def test_menagerie(self):
method _create_environment (line 31) | def _create_environment(
method test_action_spec (line 54) | def test_action_spec(self):
method test_close_gripper (line 75) | def test_close_gripper(self):
method test_open_gripper (line 104) | def test_open_gripper(self):
method test_table_height_offset_with_pbr_scene (line 118) | def test_table_height_offset_with_pbr_scene(self):
method test_environment_with_delay (line 136) | def test_environment_with_delay(self, delay=0.02):
method test_check_camera_extrinsics (line 175) | def test_check_camera_extrinsics(self):
FILE: aloha_sim/tasks/test/blocks_spelling_test.py
class BlocksSpellingTests (line 26) | class BlocksSpellingTests(unittest.TestCase):
method test_blocks_spelling (line 28) | def test_blocks_spelling(self):
FILE: aloha_sim/tasks/test/desktop_test.py
class DesktopWrapHeadphoneTests (line 26) | class DesktopWrapHeadphoneTests(unittest.TestCase):
method test_desktop_wrap_headphone (line 28) | def test_desktop_wrap_headphone(self):
FILE: aloha_sim/tasks/test/dining_test.py
class DiningPlaceInContainerTests (line 26) | class DiningPlaceInContainerTests(unittest.TestCase):
method test_dining_place_in_container_banana (line 28) | def test_dining_place_in_container_banana(self):
method test_dining_place_in_container_pen (line 52) | def test_dining_place_in_container_pen(self):
method test_dining_place_in_container_mug (line 76) | def test_dining_place_in_container_mug(self):
FILE: aloha_sim/tasks/test/dish_on_rack_test.py
class BowlOnRackTests (line 26) | class BowlOnRackTests(unittest.TestCase):
method test_bowl_on_rack (line 28) | def test_bowl_on_rack(self):
FILE: aloha_sim/tasks/test/drawer_test.py
class OpenDrawerTests (line 26) | class OpenDrawerTests(unittest.TestCase):
method test_open_drawer (line 28) | def test_open_drawer(self):
FILE: aloha_sim/tasks/test/hand_over_test.py
class HandOverTests (line 26) | class HandOverTests(unittest.TestCase):
method test_hand_over_pen (line 28) | def test_hand_over_pen(self):
method test_hand_over_banana (line 53) | def test_hand_over_banana(self):
FILE: aloha_sim/tasks/test/laptop_test.py
class LaptopTests (line 26) | class LaptopTests(unittest.TestCase):
method test_laptop_close (line 28) | def test_laptop_close(self):
FILE: aloha_sim/tasks/test/marker_test.py
class MarkerTests (line 26) | class MarkerTests(unittest.TestCase):
method test_marker_remove_lid (line 28) | def test_marker_remove_lid(self):
FILE: aloha_sim/tasks/test/tools_test.py
class DiningPlaceInContainerTests (line 26) | class DiningPlaceInContainerTests(unittest.TestCase):
method test_tools_in_caddy_screwdriver_left (line 28) | def test_tools_in_caddy_screwdriver_left(self):
method test_tools_in_caddy_screwdriver_right (line 53) | def test_tools_in_caddy_screwdriver_right(self):
method test_tools_in_caddy_magnifier_left (line 78) | def test_tools_in_caddy_magnifier_left(self):
method test_tools_in_caddy_magnifier_right (line 103) | def test_tools_in_caddy_magnifier_right(self):
method test_tools_in_caddy_can_opener_left (line 128) | def test_tools_in_caddy_can_opener_left(self):
method test_tools_in_caddy_can_opener_right (line 153) | def test_tools_in_caddy_can_opener_right(self):
method test_tools_in_caddy_thumb_drive_left (line 178) | def test_tools_in_caddy_thumb_drive_left(self):
method test_tools_in_caddy_thumb_drive_right (line 203) | def test_tools_in_caddy_thumb_drive_right(self):
method test_tools_in_caddy_scissors_left (line 228) | def test_tools_in_caddy_scissors_left(self):
method test_tools_in_caddy_scissors_right (line 253) | def test_tools_in_caddy_scissors_right(self):
FILE: aloha_sim/tasks/test/towel_test.py
class TowelFoldInHalfTests (line 26) | class TowelFoldInHalfTests(unittest.TestCase):
method test_towel_fold_in_half (line 28) | def test_towel_fold_in_half(self):
FILE: aloha_sim/tasks/tools_in_caddy.py
class ToolsInCaddy (line 40) | class ToolsInCaddy(tools.Tools):
method __init__ (line 43) | def __init__(
method get_reward (line 53) | def get_reward(self, physics):
method get_instruction (line 152) | def get_instruction(self):
FILE: aloha_sim/tasks/towel_fold_in_half.py
class TowelFoldInHalf (line 24) | class TowelFoldInHalf(towel.Towel):
method get_reward (line 27) | def get_reward(self, physics):
method get_instruction (line 59) | def get_instruction(self):
FILE: aloha_sim/utils/oobb_utils.py
class Aabb (line 25) | class Aabb:
class Oobb (line 33) | class Oobb:
function get_aabb_from_vertices (line 46) | def get_aabb_from_vertices(pts: np.ndarray) -> Aabb:
function get_vertices_aabb (line 51) | def get_vertices_aabb(aabb: Aabb) -> np.ndarray:
function aabb_to_oobb (line 65) | def aabb_to_oobb(aabb: Aabb) -> Oobb:
function _rotate_vector3 (line 74) | def _rotate_vector3(rotation: np.ndarray, vector3: np.ndarray) -> np.nda...
function _transform_point (line 89) | def _transform_point(
function get_vertices_oobb (line 105) | def get_vertices_oobb(oobb: Oobb) -> np.ndarray:
function get_oobb (line 114) | def get_oobb(
function transform_oobb (line 175) | def transform_oobb(
function overlap_aabb_oobb (line 202) | def overlap_aabb_oobb(aabb: Aabb, oobb: Oobb) -> bool:
function overlap_oobb_oobb (line 251) | def overlap_oobb_oobb(oobb0: Oobb, oobb1: Oobb) -> bool:
FILE: aloha_sim/utils/success_detector_utils.py
function any_props_moving (line 22) | def any_props_moving(props, physics, qvel_tol=_QVEL_TOL):
FILE: aloha_sim/viewer.py
class NoPolicy (line 107) | class NoPolicy(gdmr_policy.Policy[np.ndarray]):
method __init__ (line 110) | def __init__(self):
method step (line 114) | def step(
method initial_state (line 128) | def initial_state(
method step_spec (line 135) | def step_spec(self, timestep_spec: gdmr_types.TimeStepSpec) -> tuple[
function _key_callback (line 146) | def _key_callback(key: int) -> None:
function _append_task_instruction (line 165) | def _append_task_instruction(
function main (line 174) | def main(argv: Sequence[str]) -> None:
Copy disabled (too large)
Download .json
Condensed preview — 741 files, each showing path, character count, and a content snippet. Download the .json file for the full structured content (79,845K chars).
[
{
"path": "CONTRIBUTING.md",
"chars": 970,
"preview": "# How to Contribute\n\n## Contributor License Agreement\n\nContributions to this project must be accompanied by a Contributo"
},
{
"path": "LICENSE",
"chars": 28113,
"preview": "================================================================================\nLicense for contents in the directory '"
},
{
"path": "README.md",
"chars": 4617,
"preview": "# Aloha Sim\n\n<a href=\"#\"><img alt=\"A banner with the title: Aloha Sim\" src=\"media/banner.png\" width=\"100%\"></a>\n\nAloha S"
},
{
"path": "aloha_sim/__init__.py",
"chars": 576,
"preview": "# Copyright 2025 Google LLC\n#\n# Licensed under the Apache License, Version 2.0 (the \"License\");\n# you may not use this f"
},
{
"path": "aloha_sim/assets/aloha/LICENSE",
"chars": 1502,
"preview": "Copyright (c) 2023, Trossen Robotics\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or wi"
},
{
"path": "aloha_sim/assets/aloha/README.md",
"chars": 923,
"preview": "# ALOHA Description\n\nRequires MuJoCo 3.1.1 or later.\n\n## Overview\n\nThis package contains a simplified robot description "
},
{
"path": "aloha_sim/assets/aloha/aloha_pbr.xml",
"chars": 18958,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/d405_solid.obj",
"chars": 2467272,
"preview": "# Blender 4.1.1\n# www.blender.org\no d405_solid\nv -0.011232 0.000037 -0.017517\nv -0.011232 0.000037 -0.023017\nv -0.011228"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/overhead_mount.obj",
"chars": 3562371,
"preview": "# Blender 4.1.1\n# www.blender.org\no overhead_mount\nv 0.008754 0.013751 0.032523\nv 0.008697 0.013728 0.032475\nv 0.011047 "
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_1_base.obj",
"chars": 159821,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_1_base_UV_Mapped\nv 0.027743 0.074921 0.009000\nv 0.040121 0.087300 0.009000\nv "
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_2_shoulder.obj",
"chars": 103576,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_2_shoulder_UV_Mapped\nv 0.061213 0.005303 0.006000\nv 0.044100 0.015717 0.00600"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_3_upper_arm.obj",
"chars": 182127,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_3_upper_arm_UV_Mapped\nv -0.012931 -0.012600 0.290675\nv -0.012714 -0.012350 0."
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_4_upper_forearm.obj",
"chars": 82921,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_4_upper_forearm_UV_Mapped\nv 0.190000 0.007645 0.002358\nv 0.185193 0.000000 0."
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_5_lower_forearm.obj",
"chars": 167670,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_5_lower_forearm_UV_Mapped\nv 0.002500 -0.042584 -0.016350\nv 0.002900 -0.042750"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_6_wrist.obj",
"chars": 114480,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_6_wrist_UV_Mapped\nv 0.019839 -0.069744 -0.000161\nv 0.019668 -0.069744 0.00245"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_7_gripper_prop_bar.obj",
"chars": 2848308,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_7_gripper_prop_bar_UV_Mapped\nv -0.052189 -0.011091 0.018200\nv -0.052138 -0.01"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_8_custom_finger_left.obj",
"chars": 3156894,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_8_custom_finger_left_UV_Mapped\nv 0.045500 0.000041 0.018052\nv 0.049250 0.0000"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/vx300s_8_custom_finger_right.obj",
"chars": 3224767,
"preview": "# Blender 4.1.1\n# www.blender.org\no vx300s_8_custom_finger_right_UV_Mapped\nv -0.051429 0.016621 0.022528\nv -0.051440 0.0"
},
{
"path": "aloha_sim/assets/aloha/assets/aloha_mapped_mesh/wormseye_mount.obj",
"chars": 3662779,
"preview": "# Blender 4.1.1\n# www.blender.org\no wormseye_mount\nv 0.012210 0.008361 0.032157\nv 0.011192 0.008457 0.033156\nv 0.011192 "
},
{
"path": "aloha_sim/assets/aloha/assets/cell_extrusions/cell_extrusions.obj",
"chars": 9768859,
"preview": "# Blender 4.1.1\n# www.blender.org\no corner_bracket.001\nv -0.388910 1.013866 -0.015515\nv -0.388911 1.013866 -0.019515\nv -"
},
{
"path": "aloha_sim/assets/aloha/assets/table_top/table_mesh_mapped.obj",
"chars": 11521,
"preview": "o Cube\nv -0.380788 -0.609455 0.749086\nv -0.380091 -0.609744 0.749086\nv -0.380091 -0.609455 0.749783\nv -0.380833 -0.60907"
},
{
"path": "aloha_sim/assets/aloha/assets/tablelegs.obj",
"chars": 10174,
"preview": "mtllib small_meta_tableSG.003.mtl\nusemtl small_meta_tableSG.003\nv -0.37953900 -0.60982800 0.73674500\nv -0.37953900 -0.60"
},
{
"path": "aloha_sim/assets/aloha/joint_position_actuators.xml",
"chars": 1944,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/aloha/scene_pbr.xml",
"chars": 3853,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/edr/drawer/model.xml",
"chars": 5513,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/edr/drawer/scene.xml",
"chars": 1485,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/edr/pen/material/pen.mtl",
"chars": 104,
"preview": "newmtl blinn1SG\nillum 4\nKd 1.00 1.00 1.00\nKa 0.00 0.00 0.00\nTf 1.00 1.00 1.00\nNi 1.00\nKs 0.50 0.50 0.50\n"
},
{
"path": "aloha_sim/assets/edr/pen/meshes/coacd_merged.obj",
"chars": 13899,
"preview": "# https://github.com/mikedh/trimesh\n\no geometry_0\nv -0.00625805 0.07036082 0.00329165 0.06274510 0.72549020 0.82352941\nv"
},
{
"path": "aloha_sim/assets/edr/pen/meshes/coacd_part_000.obj",
"chars": 8935,
"preview": "# https://github.com/mikedh/trimesh\nv -0.00625805 0.07036082 0.00329165\nv -0.00484489 0.07036082 0.00061886\nv -0.0048367"
},
{
"path": "aloha_sim/assets/edr/pen/meshes/textured.obj",
"chars": 14216,
"preview": "# This file uses centimeters as units for non-parametric coordinates.\n\nmtllib pen.mtl\ng default\nv 0.001259 0.062123 0.00"
},
{
"path": "aloha_sim/assets/edr/pen/model.xml",
"chars": 1405,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/edr/pen/scene.xml",
"chars": 1488,
"preview": "<!--\nCopyright 2025 Google LLC\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this fil"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_merged.obj",
"chars": 875993,
"preview": "# https://github.com/mikedh/trimesh\n\no geometry_0\nv 0.00136332 0.03487649 0.01249091 0.90588235 0.96470588 0.98431373\nv "
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_000.obj",
"chars": 1781,
"preview": "# https://github.com/mikedh/trimesh\nv 0.00136332 0.03487649 0.01249091\nv 0.00136332 0.03358654 0.01261499\nv 0.00136332 0"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_001.obj",
"chars": 6427,
"preview": "# https://github.com/mikedh/trimesh\nv -0.06766083 0.00147305 0.01554224\nv -0.06752086 0.00439382 0.01554224\nv -0.0674057"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_002.obj",
"chars": 10722,
"preview": "# https://github.com/mikedh/trimesh\nv 0.03750729 -0.05061656 0.16784173\nv 0.03750729 -0.05121744 0.17063504\nv 0.03750729"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_003.obj",
"chars": 3057,
"preview": "# https://github.com/mikedh/trimesh\nv 0.00136332 -0.04775361 0.00161479\nv 0.03433746 -0.04775361 0.00052954\nv 0.00136332"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_004.obj",
"chars": 16895,
"preview": "# https://github.com/mikedh/trimesh\nv 0.03750729 -0.05331629 0.15367397\nv 0.00136332 -0.06527429 0.15367397\nv 0.03750729"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_005.obj",
"chars": 10990,
"preview": "# https://github.com/mikedh/trimesh\nv -0.07525401 0.00147313 0.16492247\nv -0.07511971 0.00147313 0.16784288\nv -0.0751514"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_006.obj",
"chars": 8855,
"preview": "# https://github.com/mikedh/trimesh\nv 0.02563743 -0.04775577 0.01113697\nv 0.02563743 -0.05577493 0.01631333\nv 0.02563743"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_007.obj",
"chars": 12442,
"preview": "# https://github.com/mikedh/trimesh\nv 0.04875948 -0.00372981 0.00258170\nv 0.05696156 -0.00372981 0.00131823\nv 0.04875948"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_008.obj",
"chars": 8128,
"preview": "# https://github.com/mikedh/trimesh\nv 0.04875948 0.03476570 0.01241835\nv 0.04875948 0.03952854 0.01641061\nv 0.04875948 0"
},
{
"path": "aloha_sim/assets/gso/BIA_Cordon_Bleu_White_Porcelain_Utensil_Holder_900028/meshes/coacd_part_009.obj",
"chars": 14806,
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},
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"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_021.obj",
"chars": 18595,
"preview": "# https://github.com/mikedh/trimesh\nv 0.06510491 0.02707688 0.15894241\nv 0.06981161 0.02657639 0.15894241\nv 0.06503557 0"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_022.obj",
"chars": 5129,
"preview": "# https://github.com/mikedh/trimesh\nv 0.01813272 0.01899057 0.15894866\nv 0.01855633 0.02143682 0.15894866\nv 0.01862965 0"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_023.obj",
"chars": 5832,
"preview": "# https://github.com/mikedh/trimesh\nv 0.03141075 -0.06665839 0.15233030\nv 0.03141075 -0.06631247 0.14749094\nv 0.04084854"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_024.obj",
"chars": 6048,
"preview": "# https://github.com/mikedh/trimesh\nv -0.01235077 -0.02761674 0.13948164\nv -0.01494610 -0.02784587 0.13948164\nv -0.01121"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_025.obj",
"chars": 5372,
"preview": "# https://github.com/mikedh/trimesh\nv 0.04394091 -0.01689072 0.09546656\nv 0.04050385 -0.01689072 0.09591397\nv 0.04050385"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_026.obj",
"chars": 6119,
"preview": "# https://github.com/mikedh/trimesh\nv 0.05974042 -0.01652284 0.19013937\nv 0.05974042 -0.02040112 0.19001061\nv 0.05974042"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_027.obj",
"chars": 3236,
"preview": "# https://github.com/mikedh/trimesh\nv -0.02695239 -0.06788499 0.15131377\nv -0.02378228 -0.06743789 0.14893929\nv -0.02354"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_028.obj",
"chars": 7173,
"preview": "# https://github.com/mikedh/trimesh\nv 0.03140788 -0.03124467 0.13977014\nv 0.03140788 -0.01708179 0.13219151\nv 0.01666833"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_029.obj",
"chars": 4199,
"preview": "# https://github.com/mikedh/trimesh\nv 0.00893796 0.00766200 0.13703581\nv 0.00903915 0.00877177 0.13703581\nv 0.00930312 0"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_030.obj",
"chars": 4056,
"preview": "# https://github.com/mikedh/trimesh\nv -0.01921585 -0.05417618 0.16877011\nv -0.01461418 -0.05437546 0.15988357\nv -0.01461"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_031.obj",
"chars": 7600,
"preview": "# https://github.com/mikedh/trimesh\nv 0.03117601 0.02622992 0.13703019\nv 0.02633821 0.02619176 0.13703019\nv 0.03140788 0"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_032.obj",
"chars": 4105,
"preview": "# https://github.com/mikedh/trimesh\nv 0.01004398 -0.05037622 0.13977014\nv 0.01101025 -0.05496052 0.13977014\nv 0.01158123"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_033.obj",
"chars": 7584,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017184 -0.06785029 0.15131377\nv -0.03017184 -0.03819732 0.15131377\nv -0.01921"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_034.obj",
"chars": 2772,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017184 -0.00658379 0.19010176\nv -0.02919332 -0.00549517 0.18874115\nv -0.02920"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_035.obj",
"chars": 2109,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017077 -0.00348429 0.10381203\nv -0.02838802 -0.00681828 0.10381203\nv -0.01924"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_036.obj",
"chars": 3668,
"preview": "# https://github.com/mikedh/trimesh\nv -0.02669501 0.02745219 0.14943560\nv -0.03017184 0.02696577 0.14943560\nv -0.0236385"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_037.obj",
"chars": 3986,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017184 0.02456714 0.17134328\nv -0.02914230 0.02453992 0.17134328\nv -0.0268601"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_038.obj",
"chars": 4762,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03355989 0.02677348 0.15993632\nv -0.03355989 0.02705202 0.15716500\nv -0.0386289"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_039.obj",
"chars": 4649,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03862898 -0.00079991 0.19548624\nv -0.03664372 -0.00201668 0.19548624\nv -0.03862"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_040.obj",
"chars": 1961,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03355359 -0.00835823 0.09645735\nv -0.03045407 -0.00835823 0.09782374\nv -0.03355"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_041.obj",
"chars": 3385,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017184 -0.06794174 0.15232353\nv -0.03017184 -0.06788341 0.15716545\nv -0.03169"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_042.obj",
"chars": 3827,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03355956 -0.01062025 0.19481790\nv -0.03326573 -0.01062025 0.19457435\nv -0.03355"
},
{
"path": "aloha_sim/assets/gso/Razer_Kraken_Pro_headset_Full_size_Black_with_cable/meshes/coacd_part_043.obj",
"chars": 3385,
"preview": "# https://github.com/mikedh/trimesh\nv -0.03017184 -0.06794174 0.15232353\nv -0.03017184 -0.06788341 0.15716545\nv -0.03169"
}
]
// ... and 541 more files (download for full content)
About this extraction
This page contains the full source code of the google-deepmind/aloha_sim GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 741 files (73.9 MB), approximately 19.4M tokens, and a symbol index with 164 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.